Introduction. CONTENTS Page

Transcription

1 CONTENTS Page 1 Introduction How to use this Manual What you must know before you use the Robot Identification Structure Manipulator Controller Electronics unit Product Manual 1

2 2 Product Manual IRB 140

3 1 Introduction 1.1 How to use this Manual This manual provides information on installation, preventive maintenance, troubleshooting, and how to carry out repairs on the manipulator and controller. Its intended audience is trained maintenance personnel with expertise in both mechanical and electrical systems. The manual does not in any way assume to take the place of the maintenance training course offered by ABB Flexible Automation. Anyone reading this manual should also have access to the User s Guide. The chapter entitled System Description provides general information on the robot structure, such as its computer system, input and output signals, etc. How to assemble the robot and install all signals, etc., is described in the chapter on Installation and Commissioning. If an error should occur in the robot system, you can find out why it has happened in the chapter on Troubleshooting. If you receive an error message, you can also consult the chapter on System and Error Messages in the User s Guide. It is very helpful to have a copy of the circuit diagram at hand when trying to locate cabling faults. Servicing and maintenance routines are described in the chapter on Maintenance. 1.2 What you must know before you use the Robot Normal maintenance and repair work Usually requires only standard tools. Some repairs, however, require specific tools. These repairs and the type of tool required, are described in more detail in the chapter Repairs. The power supply Must always be switched off whenever work is carried out in the controller cabinet. Note that even though the power is switched off, the orange-coloured cables may be live. The reason for this is that these cables are connected to external equipment and are consequently not affected by the mains switch on the controller. Circuit boards - printed boards and components Must never be handled without Electro-Static Discharge (ESD) protection in order not to damage them. Use the wrist strap located on the inside of the controller door. All personnel working with the robot system must be very familiar with the safety regulations outlined in the chapter on Safety. Incorrect operation can damage the robot or injure someone. Product Manual 3

4 1.3 Identification Identification plates indicating the type of robot and serial number, etc., are located on the manipulator (see Figure 1) and on the front of the controller (see Figure 2). The BaseWare O.S diskettes are also marked with the serial number (see Figure 3). Note! The identification plates and label shown in the figures below, only serve as examples. For exact identification see the plates on the robot in question. ABB Robotics Products AB S Västerås Sweden Made in Sweden Type: Robot version: Man. order: Nom. load Serial. No: Date of manufacturing: Net weight 2,5.120 : 2060 kg : 2060 kg 2,5-200 : 2230 kg IRB 6400R M2000 IRB 6400R/ XXXXXX See instructions 6400R-XXXX 2000-XX-XX 2,8-150 : 2240 kg 2,8-200 : 2390 kg : 2250 kg Identification plate showin the IRB 6400R / M2000 IRB 140(0) IRB 2400 IRB 4400 IRB 6400R IRB 640 IRB 340 IRB 140 IRB 840/A Figure 1 Examples of identification plate and its location on different manipulator types. 4 Product Manual

5 . ABB Robotics Products AB S Västerås Sweden Made in Sweden Type: Robo t versi on: Volta ge: 3 x 400 V Powe IRB 640 0R M9 9 IRB 640 0R/ Figure 2 Identification plate on the controller System Key S4C 3.1 Program No 3 HAB2390-1/ Property of ABB Västerås/ Sweden. All rights reserved. Reproduction, modification, ABB Robotics Products AB Figure 3 Example of a label on a BaseWare O.S diskette. Product Manual 5

6 1.4 Structure Manipulator The robot is made up of two main parts, the manipulator and controller. The controller is described in section 1.5. The Manipulator is equipped with maintenance-free AC motors, which have electromechanical brakes. The brakes lock the motors when the robot is inoperative for more than 1000 hours. The time can be configured by the user. The following figures show the various ways in which the different manipulators move and their component parts. Motor axis 5 Motor axis 6 Axis 4 Axis 5 Motor axis 4 Motor axis 1 Motor axis 2 Motor axis 3 Base Figure 4 The motion patterns of the IRB 1400 and IRB Product Manual

7 Motor unit axis 4 Motor unit axis 5 Motor unit axis 6 Axis 4 Axis 5 Motor unit and gearbox axis 1 Motor unit and gearbox axis 3 Motor unit and gearbox axis 2 Base Figure 5 The motion patterns of the IRB Axis 5 Axis 4 Motor axis 4 Motor axis 5 Motor axis 6 Axis Motor axis Motor axis Motor axis Base Figure 6 The motion patterns of the IRB 4400 Product Manual 7

8 Motor axis 4 Axis4 Motor axis 5 Axis 5 Motor axis 6 Motor axis 1 Motor axis 2 Motor axis 3 Figure 7 The motion patterns of the IRB 6400R M99. Base Motor axis 6 Motor axis 3 Motor axis 1 Motor axis 2 Figure 8 The motion patterns of the IRB Product Manual

9 Motor 1(X)-axis Motor 3(Z)-axis Motor 2(Y)-axis Motor 4(C)-axis 2(Y)-axis 3(Z)-axis 4(C)-axis 1(X)-axis Figure 9 The motion patterns of the IRB 840/A Product Manual 9

10 . (x3) Y Motors encapsulated Base box Bars (x3) X Swivel Z Axis 4, telescopic shaft (option) Figure 10 The motion patterns of the IRB 340. Motor axis 4 Motor axis 5 Motor axis 6 Axis 4 Axis 5 Motor axis 1 Motor axis 3 Base Motor axis 2 Figure 11 The motion patterns of the IRB Product Manual