ABB IRC5 with T10 Manual de usuario

Operating manual

IRC5 with T10

Trace back information:

Workspace R17-1 version a4

Checked in 2017-03-20

Skribenta version 5.1.011

Operating manual

IRC5 with T10

RobotWare 6.05

Document ID: 3HAC050943-001

Revision: C

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.

Keep for future reference.

Additional copies of this manual may be obtained from ABB.

Original instructions.

ABB AB, Robotics

Robotics and Motion

Se-721 68 Västerås

Sweden

Table of contents

7Overview of this manual ...................................................................................................................

9Product documentation, IRC5 ..........................................................................................................

111 Safety

111.1 About this chapter ............................................................................................. 121.2 Applicable standards ......................................................................................... 141.3 Safety signals in the manual ................................................................................ 161.4 Protective stop and emergency stop .....................................................................

172 What is a T10?

213 Connecting the T10

234 Configuration

275 Jogging

296 Running in production

296.1 Starting programs ............................................................................................. 306.2 Stopping programs ............................................................................................

31Index

Operating manual - IRC5 with T10 5

3HAC050943-001 Revision: C

Table of contents

This page is intentionally left blank

Overview of this manual

About this manual

This manual contains instructions for daily operation of IRC5 based robot systems

using a T10.

Usage

This manual should be used during operation.

Who should read this manual?

This manual is intended for:

• operators

• product technicians

• service technicians

• robot programmers

Prerequisites

The reader should:

•Be familiar with the concepts described in Operating manual - Getting started,

IRC5 and RobotStudio.

• Be trained in robot operation.

References

3HAC047136-001Product manual - IRC5

IRC5 with main computer DSQC1000.

3HAC047137-001Product manual - IRC5 Panel Mounted Controller

IRC5 with main computer DSQC1000.

3HAC047138-001Product manual - IRC5 Compact

IRC5 with main computer DSQC1000.

3HAC027097-001Operating manual - Getting started, IRC5 and RobotStudio

3HAC032104-001Operating manual - RobotStudio

3HAC050941-001Operating manual - IRC5 with FlexPendant

Revisions

DescriptionRevision

Released with RobotWare 6.0.-

Released with RobotWare 6.02.

• Added pictures of IRC5 Compact and IRC5 Panel Mounted Controller

to section Location of the connector on page 21.

• Added explaining picture of base coordinate system in section Setting

the reference direction on page 23.

• Added picture and some more explanations to section Programming

the function keys on page 24.

• Added section Additional axes and MultiMove on page 28.

Continues on next page

Operating manual - IRC5 with T10 7

3HAC050943-001 Revision: C

Overview of this manual

DescriptionRevision

Released with RobotWare 6.03.

• Added pictures of axis mode to Axis mode on page 27 and Additional

axes and MultiMove on page 28.

Released with RobotWare 6.05.

•Updated descriptions of stops in section Protective stop and emergency

stop on page 16.

• Added section Running in production on page 29.

8 Operating manual - IRC5 with T10

3HAC050943-001 Revision: C

Overview of this manual

Continued

Product documentation, IRC5

Categories for user documentation from ABB Robotics

The user documentation from ABB Robotics is divided into a number of categories.

This listing is based on the type of information in the documents, regardless of

whether the products are standard or optional.

All documents listed can be ordered from ABB on a DVD. The documents listed

are valid for IRC5 robot systems.

Product manuals

Manipulators, controllers, DressPack/SpotPack, and most other hardware is

delivered with a Product manual that generally contains:

• Safety information.

• Installation and commissioning (descriptions of mechanical installation or

electrical connections).

•Maintenance (descriptions of all required preventive maintenance procedures

including intervals and expected life time of parts).

• Repair (descriptions of all recommended repair procedures including spare

parts).

• Calibration.

• Decommissioning.

•Reference information (safety standards, unit conversions, screw joints, lists

of tools).

• Spare parts list with exploded views (or references to separate spare parts

lists).

• Circuit diagrams (or references to circuit diagrams).

Technical reference manuals

The technical reference manuals describe reference information for robotics

products.

•Technical reference manual - Lubrication in gearboxes: Description of types

and volumes of lubrication for the manipulator gearboxes.

•Technical reference manual - RAPID overview: An overview of the RAPID

programming language.

•Technical reference manual - RAPID Instructions, Functions and Data types:

Description and syntax for all RAPID instructions, functions, and data types.

•Technical reference manual - RAPID kernel: A formal description of the

RAPID programming language.

•Technical reference manual - System parameters: Description of system

parameters and configuration workflows.

Continues on next page

Operating manual - IRC5 with T10 9

3HAC050943-001 Revision: C

Product documentation, IRC5

Application manuals

Specific applications (for example software or hardware options) are described in

Application manuals. An application manual can describe one or several

applications.

An application manual generally contains information about:

• The purpose of the application (what it does and when it is useful).

•What is included (for example cables, I/O boards, RAPID instructions, system

parameters, DVD with PC software).

• How to install included or required hardware.

• How to use the application.

• Examples of how to use the application.

Operating manuals

The operating manuals describe hands-on handling of the products. The manuals

are aimed at those having first-hand operational contact with the product, that is

production cell operators, programmers, and trouble shooters.

The group of manuals includes (among others):

•Operating manual - Emergency safety information

•Operating manual - General safety information

•Operating manual - Getting started, IRC5 and RobotStudio

•Operating manual - IRC5 Integrator's guide

•Operating manual - IRC5 with FlexPendant

•Operating manual - RobotStudio

•Operating manual - Trouble shooting IRC5

10 Operating manual - IRC5 with T10

3HAC050943-001 Revision: C

Product documentation, IRC5

Continued

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