Installation and Commissioning

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RepairsCalibration8. Press the function key All to select all axes, if all axes are to be calibrated.Otherwise, select the desired axis and press the function key Incl (the selected axisis marked with an x).9. Confirm your choice by pressing OK. The window shown in Figure 9 appears.Calibration!Robot- - - - - WARNING - - - - -The calibration for all marked axeswill be changed.It cannot be undone.OK to continue?CancelOKFigure 9 The dialog box used to start the calibration.10. Start the calibration by pressing OK.An alert box is displayed during the calibration.The Status window appears when the fine calibration is complete. The revolutioncounters are always updated at the same time as the calibration is performed.The robot is now roughly calibrated.11. Remove the protective plate from the reference surface on the manipulator base.12. Attach the calibration tool for axis 1 on the guide pin underneath the gearbox, seeFigure 10.Tool no.6808 0011-GRTool no.3HAB 1378-1Guide pin in gearboxFigure 10
CalibrationRepairs13. Release the brakes and move the manipulator manually so that the tool6808 0011-GR can be located in the guide hole on the reference plane.14. Update axis 1 only, as described above.15. Remove the calibration too for axis 1.16. Fit the reference plane no. 6808 0011-GM on the foot.17. Calibrate the sensors against each other, using the reference plane surface. See Figure11. The sensors must be calibrated every time they are used for a new direction.Level sensors0000Reference planeCalibrating sensorsfor axes 2, 3 and 5Calibrating sensorsfor axes 4 and 6Figure 11 Calibrating the sensors.18. Fit the angle shelf no. 6808 0011-LP on the lower arm. Adjust the angle of theshelf, with the help of the sensors, before starting calibration.19. Fit the angle shelf no. 6808 0011-GU on the turning disc.20. Position the sensors as shown Figure 12, for axis 2.21. Run the manipulator so that the instrument shows 0 ±16 increments (0.4 mm/m).22. Update axis 2 as described above. Remove the sensors.23. Select the Program window and open the file CAL1400 on the Controller Parameterdisk. Run the program and select Calib: Cal3. The robot will now move itselfto the position for calibration of axis 3.24. Put the sensors on the shelf and jog the robot to the calibration position,0±16 increments. See Figure 12.25. Update axis 3, as described above. Remove the sensors.26. Run the calibration program 4A on the system diskette.27. Calibrate the sensors for a new direction. See Figure 11.28. Run axis 4 to the correct position as indicated by the instrument, 0 ±32 increments.29. Update axis 4 as described above. Remove the sensors.42 Product Manual IRB 1400
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3HAC 2914-1M98Product On-line Manua
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ABB Flexible Automation ABProduct M
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IntroductionCONTENTSPage1 How to us
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IntroductionIntroduction1 How to us
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Introduction.ABB Robotics Products
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Product Specification IRB 1400CONTE
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Introduction1 IntroductionThank you
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Description2 Description2.1 Structu
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DescriptionRestricting the working
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DescriptionUsing a key switch, the
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DescriptionEditing programsPrograms
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DescriptionThe robot has several fu
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DescriptionMotion performanceThe Qu
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Description2.9 External AxesThe rob
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Technical specification3 Technical
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Technical specification150667398475
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Technical specification3.3 Operatio
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Technical specificationProgram star
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Technical specificationMounting of
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Technical specificationWHILE Repeat
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Technical specificationATan/ATan2Co
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Technical specificationPerformance
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Technical specification3.10 Inputs
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Specification of Variants and Optio
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Accessories5 AccessoriesThere is a
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Product Specification RobotWareCONT
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Introduction1 IntroductionRobotWare
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Rapid Language and Environment2 Bas
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Motion Control2.3 Motion ControlTru
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Advanced Functions 3.13 BaseWare Op
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Advanced Functions 3.1World ZonesA
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Advanced Motion 3.1Contour tracking
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Multitasking 3.13.3 Multitasking 3.
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FactoryWare Interface 3.1Examples o
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Ethernet Services 3.13.6 Ethernet S
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ScreenViewer 3.13.8 ScreenViewer 3.
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Conveyor Tracking 3.13.9 Conveyor T
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ArcWare 3.14 ProcessWare4.1 ArcWare
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ArcWare 3.1Analog inputs (cont.)Vol
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SpotWare 3.14.3 SpotWare 3.1SpotWar
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SpotWare 3.1manual close gunmanual
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SpotWare Plus 3.14.4 SpotWare Plus
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ProductsAny number of different pro
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DeskWare Office 3.0The “User Pref
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Programming Station 3.0Editing of b
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Programming Station 3.0• Products
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Training Center 3.0PC System Requir
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Library 3.0ServiceLog allows the us
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Robot Lab 3.0Cycle TimeClock contro
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RobComm 3.07 FactoryWare7.1 RobComm
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RobComm 3.0Following is a brief des
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RobView 3.17.2 RobView 3.1RobView i
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RobView 3.1File managerWhen the use
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RobView 3.1In addition, also a butt
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RobView 3.1Technical specificationP
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DDE Server 2.3SCWriteThe user can a
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DDE Server 2.3DDE Server for multip
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SafetyCONTENTSPage1 General........
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SafetySafety1 GeneralThis informati
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Safety5 Safe Working ProceduresSafe
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Safety7.2 Emergency stopsAn emergen
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SafetyWhen the Hold-to-run control
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Safety8.2 Tools/workpiecesIt must b
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Safety- The external voltage connec
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To the User“Declaration by the ma
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System DescriptionCONTENTSPage1 Str
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System DescriptionStructure1 Struct
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System DescriptionStructureAxis 3Up
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System DescriptionStructure1.2 Cont
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System DescriptionStructureLithium
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System DescriptionComputer System2
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System DescriptionServo System3 Ser
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System DescriptionI/O System4 I/O S
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System DescriptionSafety System5 Sa
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System DescriptionSafety System5.4
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System DescriptionExternal Axes6 Ex
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Installation and CommissioningCONTE
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Installation and CommissioningCONTE
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Installation and CommissioningTrans
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MaintenanceCONTENTSPage1 Maintenanc
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MaintenanceMaintenanceThe robot is
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Maintenance2.3 Lubricating spring b
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Maintenance2.7 Changing the battery
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Troubleshooting ToolsCONTENTSPage1
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Troubleshooting Tools1.1 TestsMost
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Fault tracing guideCONTENTSPage1 Fa
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Page 355 and 356: RepairsCONTENTSPage7.3 Changing the
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Page 365 and 366: Axis 1Repairs2.2 Changing the gearb
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Page 373 and 374: Axis 3Repairs4.2 Changing the gearb
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Page 379 and 380: Axis 4 Repairs14. Connect the cabli
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Page 393: CalibrationRepairs5. Press Enter .6
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