Installation and Commissioning

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Specification of Variants and Options183 External, mounted in a box,(see figure on the right).M5 (x4) for fastening of boxCable length185 15 m186 22 m187 30 m337190 OPERATING MODE SELECTOR193 Standard, 2 modes: manual and automatic370Connection flange191* Standard, 3 modes: manual, manual full speed and automatic.This option is inconsistent with UL/UR approval.200 I/O MODULES MOUNTED IN CABINETThe standard cabinet can be equipped with up to four I/O units. For more details, see TechnicalSpecification 3.10.I/O units (x4)X1 (SIO1)X2 (SIO2)X10 (CAN3)X16 (CAN2)BackplaneXT5, customer signalsXT6, customer powerXT8, position switchXT31 (24V supply) and service outletFigure 29 I/O unit and screw terminal locations.48 Product Specification IRB 1400 M98/BaseWare OS 3.1
Specification of Variants and Options20x22x23x25x26xDigital 24 VDC I/O: 16 inputs/16 outputs.Analog I/O: 4 inputs/4 outputs.AD Combi I/O: 16 digital inputs/16 digital outputs and 2 analog outputs (0-10V).Digital 120 VAC I/O 16 inputs/16 outputs.Digital I/O with relay outputs: 16 inputs/16 outputs.Relay outputs to be used when more current or voltage is required from the digital outputs. Theinputs are not separated by relays.Connection of I/OThe signals are connected directly to the I/O modules in the upper part of the cabinet(see Figure 29). Connectors Phoenix MSTB 2.5/xx-ST-5.08 (MC 1.5/xx-ST-3.81 for option22x) or equivalent are included:Option 20x: 4 pieces of 10 pole connectorsOption 25x, 26x: 4 pieces of 16 pole connectorsOption 23x: 4 pieces of 10 pole + 1 piece of 6 pole connector280 FIELD BUSESFor more details, see Technical Specification 3.10.281 Allen-Bradley Remote I/OUp to 128 digital inputs and outputs, in groups of 32, can be transferred serially to a PLCequipped with an Allen Bradley 1771 RIO node adapter. The unit reduces the number ofI/O units that can be mounted in cabinet by one. The field bus cables are connected directly tothe A-B RIO unit in the upper part of the cabinet (see Figure 29). Connectors PhoenixMSTB 2.5/xx-ST-5.08 or equivalent are included.284 Interbus-S SlaveUp to 64 digital inputs and 64 digital outputs can be transferred serially to a PLCequipped with an InterBus-S interface. The unit reduces the number of I/O units thatcan be mounted in the cabinet by one. The signals are connected directly to theInterBus-S slave unit (two 9-pole D-sub) in the upper part of the cabinet.286 Profibus DP SlaveUp to 128 digital inputs and 128 digital outputs can be transferred serially to a PLCequipped with a Profibus DP interface. The unit reduces the number of I/O units thatcan be mounted in cabinet by one. The signals are connected directly to theProfibus DP slave unit (one 9-pole D-sub) in the upper part of the cabinet.288 Encoder interface unit for conveyor trackingConveyor Tracking, or Line Tracking, is the function whereby the robot follows a workobject which is mounted on a moving conveyor. The encoder and synchronizationswitch cables are connected directly to the encoder unit in the upper part of the cabinet(see Figure 29). Screw connector is included. For more information see ProductSpecification RobotWare.Product Specification IRB 1400 M98/BaseWare OS 3.1 49
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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
Page 7 and 8: IntroductionIntroduction1 How to us
Page 9 and 10: Introduction.ABB Robotics Products
Page 11 and 12: Product Specification IRB 1400CONTE
Page 13 and 14: Introduction1 IntroductionThank you
Page 15 and 16: Description2 Description2.1 Structu
Page 17 and 18: DescriptionRestricting the working
Page 19 and 20: DescriptionUsing a key switch, the
Page 21 and 22: DescriptionEditing programsPrograms
Page 23 and 24: DescriptionThe robot has several fu
Page 25 and 26: DescriptionMotion performanceThe Qu
Page 27 and 28: Description2.9 External AxesThe rob
Page 29 and 30: Technical specification3 Technical
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Page 67 and 68: Product Specification RobotWareCONT
Page 69 and 70: Introduction1 IntroductionRobotWare
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Page 73 and 74: Motion Control2.3 Motion ControlTru
Page 75 and 76: Safety2.4 SafetyMany safety concept
Page 77 and 78: Advanced Functions 3.13 BaseWare Op
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Page 83 and 84: Advanced Motion 3.1Contour tracking
Page 85 and 86: Multitasking 3.13.3 Multitasking 3.
Page 87 and 88: FactoryWare Interface 3.1Examples o
Page 89 and 90: Ethernet Services 3.13.6 Ethernet S
Page 91 and 92: ScreenViewer 3.13.8 ScreenViewer 3.
Page 93 and 94: Conveyor Tracking 3.13.9 Conveyor T
Page 95 and 96: ArcWare 3.14 ProcessWare4.1 ArcWare
Page 97 and 98: ArcWare 3.1Analog inputs (cont.)Vol
Page 99 and 100: SpotWare 3.14.3 SpotWare 3.1SpotWar
Page 101 and 102: SpotWare 3.1manual close gunmanual
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Page 105 and 106: GlueWare 3.1Interface signalsWhen i
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ProductsAny number of different pro
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Available memory5 Memory and Docume
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DeskWare Office 3.06 DeskWare6.1 De
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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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Programming Station 3.0Output from
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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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Installation and CommissioningConne
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Installation and CommissioningExter
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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 ToolsTroubleshootin
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Troubleshooting Tools1.1 TestsMost
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Troubleshooting Tools1.2.1 Entering
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Troubleshooting Tools5. MC/ERWM RWM
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Troubleshooting Tools5. Miscellaneo
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Troubleshooting Tools2.3 Main compu
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Troubleshooting Tools2.6 Power supp
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Troubleshooting Tools2.7 Panel unit
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Troubleshooting Tools2.9 Analog I/O
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Troubleshooting Tools2.11 Interbus-
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Troubleshooting Tools2.13 Encoder i
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Troubleshooting Tools2.14 Status LE
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Troubleshooting ToolsModule- and ne
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Troubleshooting Tools3.2 Signal des
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Troubleshooting Tools3.3 X1 and X2
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Troubleshooting Tools3.4.2 X9 VBATT
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Troubleshooting Tools3.4.5 Disk dri
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Troubleshooting Tools3.4.7 CANX9Pin
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Fault tracing guideCONTENTSPage1 Fa
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Fault tracing guide1 Fault tracing
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Fault tracing guide1.4 Robot comput
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Fault tracing guideInputs DINameAS1
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Fault tracing guide1.7 Serial Commu
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Fault tracing guide1.11 Disk DriveT
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ABB Flexible Automation ABThis chap
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RepairsCONTENTSPage7.3 Changing the
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General DescriptionRepairsAxis 1 ro
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General DescriptionRepairs1.2 Cauti
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General DescriptionRepairs12. The s
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General DescriptionRepairs1.5 Tight
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Axis 1Repairs2.2 Changing the gearb
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Axis 1Repairs2.4 Replacing the mech
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Axis 2 Repairs3.2 Changing the gear
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Axis 2 Repairs3.5 Dismantling the b
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Axis 3Repairs4.2 Changing the gearb
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Axis 3Repairs4.5 Dismantling the co
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Axis 3Repairs105 oFigure 4 Calibrai
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Axis 4 Repairs14. Connect the cabli
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Axis 4 RepairsTo assemble:Shim betw
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Axis 4 Repairs30 Product Manual IRB
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Cabling and Serial Measuring boardR
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The Wrist and Axes 5 and 6Repairs7.
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The Wrist and Axes 5 and 6RepairsAx
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Motor UnitsRepairs38 Product Manual
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CalibrationRepairs5. Press Enter .6
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CalibrationRepairs13. Release the b
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CalibrationRepairsCalibration plate
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CalibrationRepairs2. Select Service
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CalibrationRepairs.Figure 17 Calibr
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CalibrationRepairs1. Run the calibr
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CalibrationRepairs52 Product Manual
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Installation and Commissioning

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