Installation and Commissioning

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Accessories56 Product Specification IRB 1400 M98/BaseWare OS 3.1

Product Specification RobotWareCONTENTSPage1 Introduction ..................................................................................................................... 32 BaseWare OS ................................................................................................................... 52.1 The Rapid Language and Environment.................................................................. 52.2 Exception handling................................................................................................. 62.3 Motion Control ....................................................................................................... 72.4 Safety...................................................................................................................... 92.5 I/O System .............................................................................................................. 103 BaseWare Options........................................................................................................... 113.1 Advanced Functions 3.1 ......................................................................................... 113.2 Advanced Motion 3.1 ............................................................................................. 163.3 Multitasking 3.1...................................................................................................... 193.4 FactoryWare Interface 3.1 ...................................................................................... 203.5 RAP Communication 3.1........................................................................................ 223.6 Ethernet Services 3.1 .............................................................................................. 233.7 Load Identification and Collision Detection 3.1 (LidCode)................................... 243.8 ScreenViewer 3.1.................................................................................................... 253.9 Conveyor Tracking 3.1 ........................................................................................... 273.10 I/O Plus 3.1........................................................................................................... 284 ProcessWare..................................................................................................................... 294.1 ArcWare 3.1............................................................................................................ 294.2 ArcWare Plus 3.1................................................................................................... 324.3 SpotWare 3.1.......................................................................................................... 334.4 SpotWare Plus 3.1................................................................................................... 374.5 GlueWare 3.1 ......................................................................................................... 384.6 PaintWare 3.1.......................................................................................................... 404.7 PalletWare............................................................................................................... 425 Memory and Documentation ......................................................................................... 455.1 Available memory................................................................................................... 455.2 Teach Pendant Language ........................................................................................ 465.3 Robot Documentation............................................................................................. 466 DeskWare ......................................................................................................................... 476.1 DeskWare Office 3.0 .............................................................................................. 476.2 Programming Station 3.0........................................................................................ 506.3 Training Center 3.0................................................................................................. 566.4 Library 3.0 .............................................................................................................. 586.5 Robot Lab 3.0 ......................................................................................................... 60Product Specification RobotWare for BaseWare OS 3.1 1

Page 1 and 2: 3HAC 2914-1M98Product On-line Manua

Page 3 and 4: ABB Flexible Automation ABProduct M

Page 5 and 6: 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

Page 31 and 32: Technical specification150667398475

Page 33 and 34: Technical specification3.3 Operatio

Page 35 and 36: Technical specificationProgram star

Page 37 and 38: Technical specificationMounting of

Page 39 and 40: Technical specificationWHILE Repeat

Page 41 and 42: Technical specificationATan/ATan2Co

Page 43 and 44: Technical specification3.8 Robot Mo

Page 45 and 46: Technical specificationPerformance

Page 47 and 48: Technical specification3.10 Inputs

Page 49 and 50: Technical specificationDigital outp

Page 51 and 52: Technical specification3.11 Communi

Page 53 and 54: Specification of Variants and Optio






Page 65: Accessories5 AccessoriesThere is a

Page 69 and 70: Introduction1 IntroductionRobotWare

Page 71 and 72: Rapid Language and Environment2 Bas

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

Page 79 and 80: Advanced Functions 3.1World ZonesA

Page 81 and 82: Advanced Functions 3.1RAPID instruc

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

Page 103 and 104: SpotWare Plus 3.14.4 SpotWare Plus

Page 105 and 106: GlueWare 3.1Interface signalsWhen i

Page 107 and 108: PaintWare 3.1RAPID instructions inc

Page 109 and 110: ProductsAny number of different pro

Page 111 and 112: Available memory5 Memory and Docume

Page 113 and 114: DeskWare Office 3.06 DeskWare6.1 De

Page 115 and 116: DeskWare Office 3.0The “User Pref

Page 117 and 118: Programming Station 3.0Editing of b

Page 119 and 120: Programming Station 3.0• Products

Page 121 and 122: Programming Station 3.0Output from

Page 123 and 124: Training Center 3.0PC System Requir

Page 125 and 126: Library 3.0ServiceLog allows the us

Page 127 and 128: Robot Lab 3.0Cycle TimeClock contro

Page 129 and 130: RobComm 3.07 FactoryWare7.1 RobComm

Page 131 and 132: RobComm 3.0Following is a brief des

Page 133 and 134: RobView 3.17.2 RobView 3.1RobView i

Page 135 and 136: RobView 3.1File managerWhen the use

Page 137 and 138: RobView 3.1In addition, also a butt

Page 139 and 140: RobView 3.1Technical specificationP

Page 141 and 142: DDE Server 2.3SCWriteThe user can a

Page 143 and 144: DDE Server 2.3DDE Server for multip

Page 145 and 146: SafetyCONTENTSPage1 General........

Page 147 and 148: SafetySafety1 GeneralThis informati

Page 149 and 150: Safety5 Safe Working ProceduresSafe

Page 151 and 152: Safety7.2 Emergency stopsAn emergen

Page 153 and 154: SafetyWhen the Hold-to-run control

Page 155 and 156: Safety8.2 Tools/workpiecesIt must b

Page 157 and 158: Safety- The external voltage connec

Page 159 and 160: To the User“Declaration by the ma

Page 161 and 162: System DescriptionCONTENTSPage1 Str

Page 163 and 164: System DescriptionStructure1 Struct

Page 165 and 166: System DescriptionStructureAxis 3Up

Page 167 and 168: System DescriptionStructure1.2 Cont

Page 169 and 170: System DescriptionStructureLithium

Page 171 and 172: System DescriptionComputer System2

Page 173 and 174: System DescriptionServo System3 Ser

Page 175 and 176: System DescriptionI/O System4 I/O S

Page 177 and 178: System DescriptionSafety System5 Sa

Page 179 and 180: System DescriptionSafety System5.4

Page 181 and 182: System DescriptionExternal Axes6 Ex

Page 183 and 184: Installation and CommissioningCONTE

Page 185 and 186: Installation and CommissioningCONTE

Page 187 and 188: Installation and CommissioningTrans

Page 189 and 190: Installation and CommissioningOn-Si












Page 213 and 214: Installation and CommissioningConne



























Page 267 and 268: Installation and CommissioningInsta



Page 273 and 274: Installation and CommissioningExter










Page 293 and 294: MaintenanceCONTENTSPage1 Maintenanc

Page 295 and 296: MaintenanceMaintenanceThe robot is

Page 297 and 298: Maintenance2.3 Lubricating spring b

Page 299 and 300: Maintenance2.7 Changing the battery

Page 301 and 302: Troubleshooting ToolsCONTENTSPage1

Page 303 and 304: Troubleshooting ToolsTroubleshootin

Page 305 and 306: Troubleshooting Tools1.1 TestsMost

Page 307 and 308: Troubleshooting Tools1.2.1 Entering

Page 309 and 310: Troubleshooting Tools5. MC/ERWM RWM

Page 311 and 312: Troubleshooting Tools5. Miscellaneo

Page 313 and 314: Troubleshooting Tools9. Specific te

Page 315 and 316: Troubleshooting Tools2.3 Main compu

Page 317 and 318: Troubleshooting Tools2.6 Power supp

Page 319 and 320: Troubleshooting Tools2.7 Panel unit

Page 321 and 322: Troubleshooting Tools2.9 Analog I/O

Page 323 and 324: Troubleshooting Tools2.11 Interbus-

Page 325 and 326: Troubleshooting Tools2.13 Encoder i

Page 327 and 328: Troubleshooting Tools2.14 Status LE

Page 329 and 330: Troubleshooting ToolsModule- and ne

Page 331 and 332: Troubleshooting Tools3.2 Signal des

Page 333 and 334: Troubleshooting Tools3.3 X1 and X2

Page 335 and 336: Troubleshooting Tools3.4.2 X9 VBATT

Page 337 and 338: Troubleshooting Tools3.4.5 Disk dri

Page 339 and 340: Troubleshooting Tools3.4.7 CANX9Pin

Page 341 and 342: Fault tracing guideCONTENTSPage1 Fa

Page 343 and 344: Fault tracing guide1 Fault tracing

Page 345 and 346: Fault tracing guide1.4 Robot comput

Page 347 and 348: Fault tracing guideInputs DINameAS1

Page 349 and 350: Fault tracing guide1.7 Serial Commu

Page 351 and 352: Fault tracing guide1.11 Disk DriveT

Page 353 and 354: ABB Flexible Automation ABThis chap

Page 355 and 356: RepairsCONTENTSPage7.3 Changing the

Page 357 and 358: General DescriptionRepairsAxis 1 ro

Page 359 and 360: General DescriptionRepairs1.2 Cauti

Page 361 and 362: General DescriptionRepairs12. The s

Page 363 and 364: General DescriptionRepairs1.5 Tight

Page 365 and 366: Axis 1Repairs2.2 Changing the gearb

Page 367 and 368: Axis 1Repairs2.4 Replacing the mech

Page 369 and 370: Axis 2 Repairs3.2 Changing the gear

Page 371 and 372: Axis 2 Repairs3.5 Dismantling the b

Page 373 and 374: Axis 3Repairs4.2 Changing the gearb

Page 375 and 376: Axis 3Repairs4.5 Dismantling the co

Page 377 and 378: Axis 3Repairs105 oFigure 4 Calibrai

Page 379 and 380: Axis 4 Repairs14. Connect the cabli

Page 381 and 382: Axis 4 RepairsTo assemble:Shim betw

Page 383 and 384: Axis 4 Repairs30 Product Manual IRB

Page 385 and 386: Cabling and Serial Measuring boardR

Page 387 and 388: The Wrist and Axes 5 and 6Repairs7.

Page 389 and 390: The Wrist and Axes 5 and 6RepairsAx

Page 391 and 392: Motor UnitsRepairs38 Product Manual

Page 393 and 394: CalibrationRepairs5. Press Enter .6

Page 395 and 396: CalibrationRepairs13. Release the b

Page 397 and 398: CalibrationRepairsCalibration plate

Page 399 and 400: CalibrationRepairs2. Select Service

Page 401 and 402: CalibrationRepairs.Figure 17 Calibr

Page 403 and 404: CalibrationRepairs1. Run the calibr

Page 405 and 406: CalibrationRepairs52 Product Manual

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