ABB IRB 14000 Manual de usuario

Product manual

IRB 14000

Trace back information:

Workspace R16-2 version a5

Checked in 2016-09-08

Skribenta version 4.6.318

Product manual

IRB 14000-0.5/0.5

IRC5

Document ID: 3HAC052983-001

Revision: D

The information in this manual is subject to change without notice and should not

be construed as a commitment by ABB. ABB assumes no responsibility for any errors

that may appear in this manual.

Except as may be expressly stated anywhere in this manual, nothing herein shall be

construed as any kind of guarantee or warranty by ABB for losses, damages to

persons or property, fitness for a specific purpose or the like.

In no event shall ABB be liable for incidental or consequential damages arising from

use of this manual and products described herein.

This manual and parts thereof must not be reproduced or copied without ABB's

written permission.

Additional copies of this manual may be obtained from ABB.

The original language for this publication is English. Any other languages that are

supplied have been translated from English.

ABB AB

Robotics Products

Se-721 68 Västerås

Sweden

Table of contents
9Overview of this manual ...................................................................................................................
12Product documentation, IRC5 ..........................................................................................................
14How to read the product manual ......................................................................................................
15Network security ...............................................................................................................................
171 Safety
171.1 Introduction to safety information ......................................................................... 181.2 General safety information .................................................................................. 181.2.1 Introduction to general safety information .................................................... 191.2.2 Safety in the robot system ........................................................................ 201.2.3 Safety in collaborative operation ................................................................ 221.2.4 Safety risks ............................................................................................ 221.2.4.1 Safety risks during installation and service work on robots .................. 241.2.4.2 CAUTION - Hot parts may cause burns! ........................................... 251.2.4.3 Safety risks related to tools/work pieces .......................................... 261.2.4.4 Safety risks related to pneumatic systems ........................................ 271.2.4.5 Safety risks with pressure relief valve .............................................. 281.2.4.6 Safety risks during operational disturbances ..................................... 291.2.4.7 Risks associated with live electric parts ........................................... 311.2.4.8 Safety risks for collaborative robots ................................................ 321.2.5 Safety actions ......................................................................................... 321.2.5.1 Fire extinguishing ........................................................................ 331.2.5.2 Emergency release of the robot arm ............................................... 341.2.5.3 Manually stopping or overriding the arm .......................................... 351.2.5.4 Brake testing .............................................................................. 361.2.5.5 Risk of disabling function "Reduced speed 250 mm/s" ........................ 371.2.5.6 Handling of the FlexPendant .......................................................... 391.2.5.7 Work inside the working range of the robot ....................................... 401.2.5.8 Signal lamp (optional) ................................................................... 411.2.6 Safety stops ........................................................................................... 411.2.6.1 What is an emergency stop? .......................................................... 421.2.6.2 What is a safety stop or protective stop? .......................................... 431.2.6.3 What is Cartesian speed supervision? ............................................. 441.3 Safety signals and symbols ................................................................................. 441.3.1 Safety signals in the manual ...................................................................... 461.3.2 Safety symbols on product labels ............................................................... 521.4 Safety related instructions .................................................................................. 521.4.1 DANGER - Moving robots are potentially lethal! ............................................ 531.4.2 DANGER - First test run may cause injury or damage! ................................... 541.4.3 DANGER - Make sure that the main power has been switched off! .................... 551.4.4 WARNING - The unit is sensitive to ESD! ..................................................... 561.4.5 WARNING - Safety risks during handling of batteries ..................................... 571.4.6 WARNING - Safety risks during work with gearbox lubricants (oil or grease) ......
592 Installation and commissioning
592.1 Introduction ...................................................................................................... 602.2 Unpacking ....................................................................................................... 602.2.1 Pre-installation procedure ......................................................................... 642.2.2 Dimensions ............................................................................................ 652.2.3 Working range ........................................................................................ 682.2.4 Risk of tipping/stability ............................................................................. 692.3 On-site installation ............................................................................................ 692.3.1 Lifting the robot with lifting accessories ....................................................... 722.3.2 Lifting the robot by two persons ................................................................. 742.3.3 Orienting and securing the robot ................................................................ 772.3.4 Manually releasing the brakes ...................................................................
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Table of contents

792.3.5 Loads fitted to the robot ............................................................................ 802.3.6 Installing the signal lamp .......................................................................... 862.3.7 Electrical connections .............................................................................. 862.3.7.1 Robot cabling and connection points ............................................... 872.4 Controller ........................................................................................................ 872.4.1 Overview ............................................................................................... 902.4.2 Connecting power and the FlexPendant ...................................................... 922.4.3 Connecting a PC and Ethernet based options ............................................... 932.4.3.1 Connectors on the computer unit .................................................... 972.4.4 Connecting I/O signals ............................................................................. 992.4.5 Connecting fieldbuses .............................................................................. 1022.4.6 Connecting safety signals ......................................................................... 1052.4.7 Memory functions .................................................................................... 1052.4.7.1 SD-card memory ......................................................................... 1062.4.7.2 Connecting an USB memory ..........................................................
1073 Maintenance
1073.1 Introduction ...................................................................................................... 1083.2 Maintenance schedule ....................................................................................... 1083.2.1 Specification of maintenance intervals ........................................................ 1093.2.2 Maintenance schedule ............................................................................. 1113.3 Inspection activities ........................................................................................... 1113.3.1 Inspecting the information labels ................................................................ 1153.3.2 Inspecting, signal lamp ............................................................................. 1173.3.3 Inspecting, cable harness ......................................................................... 1193.3.4 Inspecting, plastic and padding .................................................................. 1213.4 Replacement/changing activities .......................................................................... 1213.4.1 Replacing the battery pack ........................................................................ 1263.5 Cleaning activities ............................................................................................. 1263.5.1 Cleaning the IRB 14000 ............................................................................
1274 Repair
1274.1 Introduction ...................................................................................................... 1284.2 General procedures ........................................................................................... 1284.2.1 Mounting instructions for seals .................................................................. 1304.3 Arm and arm covers .......................................................................................... 1304.3.1 Replacing the complete arm ..................................................................... 1454.3.2 Replacing the encapsulation and covers ..................................................... 1484.4 Motors ............................................................................................................ 1484.4.1 Replacing the axis-1 motor ....................................................................... 1494.4.2 Replacing the axis-2 motor ....................................................................... 1714.4.3 Replacing the axis-7 motor ....................................................................... 1724.4.4 Replacing the axis-3 motor ....................................................................... 1854.4.5 Replacing the axis-4 motor ....................................................................... 1994.4.6 Replacing the axis-5 motor ....................................................................... 2114.4.7 Replacing the axis-6 motor ....................................................................... 2264.5 Hall sensors ..................................................................................................... 2264.5.1 Replacing the axis-1 hall sensor ................................................................ 2414.5.2 Replacing the axis-2 hall sensor ................................................................ 2484.5.3 Replacing the axis-7 hall sensor ................................................................ 2554.5.4 Replacing the axis-3 hall sensor ................................................................ 2624.5.5 Replacing the axis-4 hall sensor ................................................................ 2704.6 Mechanical stops .............................................................................................. 2704.6.1 Replacing the axis-1 mechanical stop ......................................................... 2814.6.2 Replacing the axis-2 mechanical stop ......................................................... 2894.6.3 Replacing the axis-7 mechanical stop ......................................................... 2944.6.4 Replacing the axis-3 mechanical stop ......................................................... 3024.7 Controller ........................................................................................................ 3024.7.1 Replacing the computer ............................................................................
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Table of contents

3104.7.2 Replacing the controller fan ....................................................................... 3144.7.3 Replacing the capacitor bank .................................................................... 3214.7.4 Replacing the power supply ...................................................................... 3254.7.5 Replacing the power distribution board ....................................................... 3324.7.6 Replacing the external power distribution board ............................................ 3384.7.7 Replacing the axis computer ..................................................................... 3454.7.8 Replacing the left arm's drive board ............................................................ 3544.7.9 Replacing the right arm's drive board .......................................................... 3614.7.10 Replacing the I/O board ............................................................................ 3664.7.11 Replacing the SMB boards ........................................................................ 3724.7.12 Replacing the EtherNet switch ................................................................... 3764.7.13 Replacing the mass memory card .............................................................. 3794.7.14 Replacing the expansion board complete .................................................... 3934.7.15 Replacing the DeviceNet master ................................................................ 4044.7.16 Replacing the fieldbus adapter ................................................................... 4094.8 Brake release harness ....................................................................................... 4094.8.1 Replacing the brake release harness ..........................................................
4175 Calibration
4175.1 Introduction ...................................................................................................... 4185.2 Calibration method ............................................................................................ 4195.3 Calibration scale and correct axis position ............................................................. 4205.4 Calibrating the robot .......................................................................................... 4285.5 Updating revolution counters ............................................................................... 4345.6 Calibration movement directions for all axes .......................................................... 4355.7 Verifying the calibration position ..........................................................................
4376 Decommissioning
4376.1 Introduction ...................................................................................................... 4386.2 Environmental information .................................................................................. 4396.3 Scrapping of robot .............................................................................................
4417 Reference information
4417.1 Introduction ...................................................................................................... 4427.2 Applicable safety standards ................................................................................ 4447.3 Unit conversion ................................................................................................. 4457.4 Specification of screws ....................................................................................... 4477.5 Screw joints ..................................................................................................... 4487.6 Weight specifications ......................................................................................... 4497.7 Standard toolkit ................................................................................................ 4507.8 Special tools .................................................................................................... 4527.9 Lifting accessories and lifting instructions ..............................................................
453Index
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© Copyright 2015 - 2016 ABB. All rights reserved.
Table of contents

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Overview of this manual

About this manual

This manual contains instructions for:

• mechanical and electrical installation of the robot

• maintenance of the robot

• mechanical and electrical repair of the robot.

Usage

This manual should be used during:

• installation, from lifting the robot to its work site and securing it to the

foundation, to making it ready for operation

• maintenance work

• repair work and calibration.

Who should read this manual?

This manual is intended for:

• installation personnel

• maintenance personnel

• repair personnel.

Prerequisites

A maintenance/repair/installation personnel working with an ABB Robot must:

• be trained by ABB and have the required knowledge of mechanical and

electrical installation/repair/maintenance work.

Organization of chapters

The manual is organized in the following chapters:

ContentsChapter

Safety information that must be read through before performing

any installation or service work on robot. Contains general safety

aspects as well as more specific information on how to avoid

personal injuries and damage to the product.

Safety, service

Required information about lifting and installation of the robot.Installation and commis-

sioning

Step-by-step procedures that describe how to perform mainten-

ance of the robot. Based on a maintenance schedule that may

be used to plan periodical maintenance.

Maintenance

Step-by-step procedures that describe how to perform repair

activities of the robot. Based on available spare parts.

Repair

Procedures that do not require specific calibration equipment.

General information about calibration.

Calibration information

Environmental information about the robot and its components.Decommissioning

Useful information when performing installation, maintenance

or repair work. Includes lists of necessary tools, additional doc-

uments, safety standards, etc.

Reference information

Continues on next page

Product manual - IRB 14000 9

3HAC052983-001 Revision: D

Overview of this manual

References

Documentation referred to in the manual, is listed in the table below.

Document IDDocument name

3HAC052984-001Product manual, spare parts - IRB 14000

3HAC052982-001Product specification - IRB 14000

3HAC054949-001Product manual - Grippers for IRB 14000

3HAC052986-001Operating manual - IRB 14000

3HAC050778-003Circuit diagram - IRB 14000

3HAC031045-001

Operating manual - General safety information i

3HAC042927-001Technical reference manual - Lubrication in gearboxes

3HAC021313-001Product manual - IRC5

3HAC050948-001Technical reference manual - System parameters

iThis manual contains all safety instructions from the product manuals for the manipulators and the

controllers.

Revisions

DescriptionRevision

First edition.-

The following updates are done in this revision:

• Minor editorial changes.

• Changed article number for the ESD warning label and added

AbsAcc label, see Inspecting the information labels on page 111.

•Added figures for axis-4, axis-5 and axis-6 motors for removal and

refitting of the wave generator.

• Added reference to absolute accuracy calibration for some repair

procedures.

Continues on next page

10 Product manual - IRB 14000

3HAC052983-001 Revision: D

Overview of this manual

Continued

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