ABB M2000 Manual de usuario

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Product manual (part 2 of 2), reference information

Articulated robot

IRB 140

M2000, M2000A, M2004

Product manual (part 2 of 2), reference information

IRB 140

M2000

M2000A

M2004

Document ID: 3HAC023297-001

Revision: A

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 thereofmust not be reproduced or copiedwithout

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 Automation Technologies AB

Robotics

SE-721 68 Västerås

Sweden

Table of Contents

33HAC023297-001 Revision: A

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

Product documentation, M2000/M2000A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1 Reference information 11

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.2 Applicable Safety Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.6 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.7 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

1.8 Performing a leak-down test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

1.10 Mounting instructions for bearings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

1.11 Mounting instructions for seals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2 Spare part / part list 27

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2.2 Spare part / part list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3 Foldouts 33

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4 Circuit diagram 35

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Table of Contents

3HAC023297-001 Revision: A4

Overview

53HAC023297-001 Revision: A

Overview

About this manual This manual contains reference information for all procedures in part 1: Product manual,

procedures.

Usage This manual should be used during:

• installation

• maintenance work

• repair work.

Who should read this manual?

This manual is intended for:

• installation personnel

• maintenance personnel

• repair personnel.

Prerequisites A maintenance/repair/ installation craftsman 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:

Chapter Contents

Reference information Useful information when performing installation, maintenance

or repair works. Includes lists of necessary tools, additional

documents, safety standards, etc.

Spare part / Part list Complete spare part lists and complete lists of robot

components, shown in the foldouts.

Foldouts Detailedillustrationsoftherobot withreferencenumbers tothe

part list.

Circuit diagram Circuit diagram for the robot.

Overview

3HAC023297-001 Revision: A6

Revisions

Revision Description

-First edition

Replaces previous manuals:

• Installation and commissioning manual

• Maintenance manual

• Repair manual, part 1

• Repair manual, part 2

Changes made in the material from the previous manuals:

• Model M2004 implemented.

•SectionDocument references added to the chapter Reference

information.

• Information about the controller removed from the manual.

• Additional spare part numbers for the motors.

AChanges made in:

• Prerequisites in section Overview

• Oil change in section Maintenance

Product documentation, M2000/M2000A

73HAC023297-001 Revision: A

Product documentation, M2000/M2000A

General The complete product documentation kit for the M2000 robot system, including controller,

robot and any hardware option, consists of the manuals listed below:

Hardware manuals All hardware, robots and controller cabinets, will be delivered with a Productmanual which

is divided into two parts:

Product manual, procedures

• Safety information

• Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

• Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

• Repair (descriptions of all recommended repair procedures including spare parts)

• Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

• Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards)

•Partlist

• Foldouts or exploded views

• Circuit diagrams

Software manuals The software documentation consists of a wide range of manuals, ranging from manuals for

basic understanding of the operating system to manuals for entering parameters during

operation.

A complete listing of all available software manuals is available from ABB.

Controller hardware option manual

Each hardware option for the controller is supplied with its own documentation. Each

document set contains the types of information specified below:

• Installation information

• Repair information

• Maintenance information

In addition, spare part information is supplied for the entire option.

Product documentation, M2004

3HAC023297-001 Revision: A8

Product documentation, M2004

General The robot documentation may be divided into a number of categories. This listing is based on

the type of information contained within the documents, regardless of whether the products

are standard or optional. This means that any given delivery of robot products will not contain

all documents listed, only the ones pertaining to the equipment delivered.

However, all documents listed may be ordered from ABB. The documents listed are valid for

M2004 robot systems.

Hardware manuals All hardware, robots and controller cabinets, will be delivered with a Productmanualwhich

is divided into two parts:

Product manual, procedures

• Safety information

• Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

• Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

• Repair (descriptions of all recommended repair procedures including spare parts)

• Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

• Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards)

•Partlist

• Foldouts or exploded views

• Circuit diagrams

RobotWare manualsThe following manuals describe the robot software in general and contain relevant reference

information:

•RAPID Overview: An overview of the RAPID programming language.

•RAPID reference manual part 1: Description of all RAPID instructions.

•RAPID reference manual part 2: Description of all RAPID functions and data types.

•Technical reference manual - System parameters: Description of system

parameters and configuration workflows.

Application manualsSpecific applications (e.g. 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 (e.g. cables, I/O boards, RAPID instructions, system parameters)

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Este manual sirve para los siguientes modelos

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