ABB IRC5 Compact Manual de usuario

Operating manual

Getting started, IRC5 and RobotStudio

Document ID: 3HAC 027097-001

Revision: B

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 asany kind of guarantee or warranty by ABB forlosses, damages topersons

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, and contents thereof must not be imparted to a third party nor be used for

any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this manual may be obtained from ABB at its then current charge.

ABB AB

Robotics Products

SE-721 68 Västerås

Sweden

Table of Contents

33HAC 027097-001 Revision: B

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Safety note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1 Procedures 7

1.1 Procedure for single robot systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.2 Procedure for MultiMove systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1.3 Common procedures for all systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2 General 17

2.1 What you need to get the system started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.2 What is a FlexPendant? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

2.3 What is RobotStudio?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2.4 What is RobotWare?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

2.5 About the media pool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2.6 When to use the FlexPendant and RobotStudio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

2.7 Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Table of Contents

43HAC 027097-001 Revision: B

Overview

53HAC 027097-001 Revision: B

Overview

About this manual This manual is to be used when starting up the system for the very first time. It contains

excerpts from other documents included in the robot system delivery.

Usage This manual contains instructions for starting up the IRC5 robot controller for the very first

time after the physical installation has been completed.

Who should read this manual?

This manual is intended for:

•Commissioning personnel

Prerequisites The reader should be familiar with:

•Mechanically installing the robot hardware.

•Be trained in robot operation.

The contents of the manual assumes all hardware (manipulator, controller and such) has been

installed correctly and connected to each other.

Organization of chapters

The manual is organized in the following chapters:

References

Revisions

Chapter Contents

1. Procedures Procedures for setup and startup of the IRC5 robot system.

2. General Descriptions of the parts in IRC5 robot system.

Reference Document Id

Product manual - IRC5 3HAC021313-001

Operating manual - IRC5 with FlexPendant 3HAC16590-1

Operating manual - RobotStudio 3HAC032104-001

Operating manual - Trouble shooting 3HAC020738-001

Technical reference manual - System parameters 3HAC17076-1

Application manual - MultiMove 3HAC021272-001

Revision Description

-Replaces manual with document id 3HAC 021564-001.

Released with RobotWare 5.08.

APolish translation added.

BRobotStudio Online is integrated in RobotStudio. Title adjusted.

Safety note

3HAC 027097-001 Revision: B6

Safety note

Overview Please note that there is no information regarding safety aspects in this manual!

In an effort to keep this manual short, there is no information regarding:

•safe handling and operation of the equipment

•generic reference information

•detailed procedures

This information can be found in the Product manuals or the Operating manuals delivered

with the robot system.

1 Procedures

1.1. Procedure for single robot systems

73HAC 027097-001 Revision: B

1 Procedures

1.1. Procedure for single robot systems

Overview This instruction is valid for IRC5 single robot systems.

A single robot system contains either a Single Cabinet Controller (controller with integrated

Control Module and Drive Module) ora Dual Controller (Control Module to which one Drive

Module is connected).

How to get started This procedure details how to get started with a single robot system.

Action Info/illustration

1. Mechanically install the robot and controller, and

connect the electrical power and signal cables

between them. Also connect the electrical power

supply.

These procedures are detailed in

the Product Manuals of robot and

controller respectively.

2. Make sure all safety related connections are made

correctly. Refer to the work station wiring

diagram.

3. Connect the FlexPendant to the controller.

xx0500001854

A: FlexPendant connector, Single

Cabinet Controller

4. If the robot system is delivered with fully functional

system software installed, you can proceed as

detailed in section How to switch on power in

Common procedures for all systems on page 11.

If no functional system software has been installed,

please proceed as detailed in section Common

procedures for all systems on page 11.

1 Procedures

1.2. Procedure for MultiMove systems

3HAC 027097-001 Revision: B8

1.2. Procedure for MultiMove systems

Overview This instruction is valid for IRC5 multi robot systems, that is, systems using the MultiMove

option.

xx0400001042

A MultiMove robot system contains either a Single Cabinet Controller (an integrated Control

Module and Drive Module as shown in the illustration above) or a separate Control Module

to which a number of Drive Modules (one for each robot being run by the system) have been

connected. Up to four robots may be operated by a MultiMove system.

NOTE!

All multi robot systems are configured as single robot systems on delivery. In order to be fully

functional as multi robot systems, these systems must be re-configured.

How to perform this is detailed in Operating manual - RobotStudio.

How to get started This procedure details how to get started with a multi robot system.

Action Info

1. Mechanically install the robot and

controller,and connecttheelectrical power

and signal cables between them. Also

connect the electrical power supply.

These procedures are detailed in the

Product Manuals of robot and controller

respectively.

Continues on next page

1 Procedures

1.2. Procedure for MultiMove systems

93HAC 027097-001 Revision: B

2. Connect the Ethernet cables from each

Drive Module to the Control Module

Ethernet card.

Make sure the Drive Modules are

connected in the correct order! The order

must correspond to the order in which the

key strings are entered when creating the

system.

xx0400001141

Connections:

• A: Robot communication card

• B: Ethernet card

• C: Ethernet connection to Drive

Module #1 (connected on delivery)

• D: Ethernet connection to Drive

Module #2

• E: Ethernet connection to Drive

Module #3

• F: Ethernet connection to Drive

Module #4

3. Before connectingthesafety signalcables,

remove jumpers from connectors X7, X8,

X14 and X17 asrequired by the number of

Drive Modules to connect.

Connectthesafetysignalcablesfromeach

Drive Module to the Control Module panel

board as shown in the figure.

xx0400001295

Connections:

• X7: safety signal cable to Drive

Module #1(connected on delivery)

• X8: safety signal cable to Drive

Module #2

• X14: safety signal cable to Drive

Module #3

• X17: safety signal cable to Drive

Module #4

Action Info

Continued

Continues on next page

1 Procedures

1.2. Procedure for MultiMove systems

3HAC 027097-001 Revision: B10

4. Make sure all safety related connections

are made correctly. Refer to the work station wiring diagram.

5. Connect the FlexPendant to the controller.

xx0500001854

A: FlexPendant connector, Single Cabinet

Controller

6. Proceed as detailed in section Common

procedures for all systems on page 11.

Action Info

Continued

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