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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, damage to persons or property, fitness for a specific purpose or the like.
The robot described in this manual has the following protection types: • Standard Product manual scope The manual covers all variants and designs of the CRB 15000. Some variants and designs may have been removed from the business offer and are no longer available for purchase. Usage This manual should be used during: •...
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3HAC066559-001 Application manual - Force Control Standard for GoFa 3HAC083267-001 Technical reference manual - Event logs for RobotWare 7 3HAC066553-001 All documents can be found via myABB Business Portal, www.abb.com/myABB. Revisions Revision Description First edition. Published in release 21B. The following updates are made in this revision: •...
Product documentation 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.
The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.
• Product manual - OmniCore C30 Reasons for selection of stops in CRB 15000 For nearly all safety functions in CRB 15000, a category 1 stop is defined. Exceptions are only allowed: • When there is a technical fault in the system, or •...
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Specific information for GoFa robots The CRB 15000 collaborative robot is designed to be able to work safely alongside humans and even share tasks with them. It is vital for the user of the robot to operate it in a safe way, setting up the necessary safety configurations, and ensure that appropriate risk reduction measures are implemented.
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
2.1 About CRB 15000 Introduction The CRB 15000 robot is a lightweight, flexible, agile 6-axis articulated robot, with a payload of 5 kg, designed specifically for manufacturing industries that use flexible robot-based automation. The robot has an open structure that is especially adapted for flexible use, and can communicate extensively with external systems.
The SISTEMA/ABB FSDT libraries contains details for the safety functions. Performance level for OmniCore C30 for CRB 15000 The OmniCore C30 for CRB 15000 controller safety system has a safety category 3 with performance level PL d according to EN ISO 13849-1:2015 and thus fulfils the safety performance requirement of the robot safety standard EN ISO 10218-1:2011.
Safety on page 15 before performing any installation work. Note Always connect the CRB 15000 and the robot to protective earth and residual current device (RCD) before connecting to power and starting any installation work. For more information see: •...
It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel Installation personnel working with an ABB product must: • Be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work. • Conform to all national and local codes.
Introduction This procedure is a brief guide when installing the robot for the first time. Also see Pre-installation procedure on page First installation Use these procedures to install the CRB 15000. Action Note Transport the manipulator to its intended location.
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Lifting and securing the robot Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minim- um of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury.
3.3.9 Installation of laser scanner Overview The safety separation technology and speed control for CRB 15000 is based on the connection and communication of one or two safety laser scanners in the robot. Laser scanner(s) provides a timely and continuous monitor on the activities within its scanning area and forms a protective field.
The configuration of emergency stops is stop category 1 and cannot be changed. Collision detection As default CRB 15000 will have collision detection active at stand still. It also has another stop ramp compared to other robots to be able to release clamping forces.
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3 Installation and commissioning 3.6.1 Information about software for the CRB 15000 Continued With the FlexPendant, a user can verify local presence with the three-position enabling device. For robots without a connected FlexPendant, system input signals can be used to verify local presence.
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If the load is lighter than the defined load, the effect will be the same as if you are pulling the robot arm upwards. For the CRB 15000, there is a button for updating/refreshing the load while lead-through is active.
RobotStudio but the functionality is not as extensive. For more information about transient contact, quasi-static contact, and body areas, Guidelines for transient and quasi-static contact, CRB 15000 on page Overview of the user interface The user interface consists of a configurator and a 3D model that visualizes the robot with the configured encapsulations and zones.
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The Standstill Supervision functionality is not active by default. It can be added, modified, and deactivated. The CRB 15000 has support for both stop category 0 and stop category 1 for Standstill Supervision. For other stops, only stop category 1 is available.
3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 About Human Contact Supervision The CRB 15000 robot is designed with collaborative applications in focus, where occasional contact between the human and the robot are foreseen. This is according to ISO/TS 15066.
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3 Installation and commissioning 3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 Continued Body model As defined in ISO/TS 15066, the body model is a representation of the human body consisting of individual body segments characterized by biomechanical properties.
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3 Installation and commissioning 3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 Continued Conclusion The values calculated in the Human Contact Supervision function are conservative. However, if the risk analysis for the final application shows that these values can...
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3 Installation and commissioning 3.6.6.1 Configuration of one PROFINET-base laser scanner (RobotWare 7.5 or earlier) Continued For CRB 15000, required settings for communication between laser scanner, PLC and OmniCore controller are predefined in the configuration file. 4 Set up safety user grants.
3.6.6.6 Speed control strategies General The speed control of CRB 15000 is affected by several factors, such as, the RobotWare version, the speed setting in the FlexPendant, the speed setting in motion instruction and the SpeedRefresh value. Users in different protection fields defined for laser scanner to monitor and perform different program execution actions may result in different movement speed.
Note If the CRB 15000 is connected to power, always make sure that the CRB 15000 is connected to protective earth and a residual current device (RCD) before starting any maintenance work.
4.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the CRB 15000: • Calendar time: specified in months regardless of whether the system is running or not.
The inspection intervals do not specify the life of each component. Maintenance schedule Maintenance activities Reference Cleaning the CRB 15000 on page 140 Cleaning the robot Inspecting the robot on page 134 Inspecting the robot Inspecting the cable harness on...
Checking the overall condition of the manipulator Action Note Look for abnormal wear or contamination. Clean as necessary. Cleaning the CRB 15000 on page 140. Check for loose hardware at robot arms, Tighten loose hardware at base (foundation base (foundation screws), and tool flange.
4.4.1 Cleaning the CRB 15000 General To secure high uptime it is important that the CRB 15000 is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works. Different cleaning methods are allowed depending on the type of protection of the CRB 15000.
Individual subcomponents shall not be exchanged. Report replaced units Note When replacing a part on the CRB 15000, report to your local ABB the serial number, the article number, and the revision of both the replaced unit and the replacement unit.
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If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.
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Laying down the robot Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minimum of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury. Loosen the robot from the foundation.
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Lifting and securing the robot Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minim- um of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury.
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5.3.4 Replacing the axis-3 cabling Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.3.6 Replacing the axis-5 cabling Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
5 Replace the cabling. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
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5.3.9 Replacing the brake release unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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Laying down the robot Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minimum of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury. Continues on next page...
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Lifting and securing the robot Action Note CAUTION The CRB 15000 robot weighs 28 kg. A minim- um of two persons are required for lifting as well as securing the robot in order to avoid any damage, instability, and injury.
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5.4.2 Replacing the housing Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5 Replace the tubular. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
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6 Replace the wrist housing. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
The arm-side interface is located as shown in the figure. xx2000002549 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.5.1 Replacing the base Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.5.2 Replacing the swing Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.6.1 Replacing the axis-1 joint unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.6.2 Replacing the axis-2 joint unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.6.3 Replacing the axis-3 joint unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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5.6.4 Replacing the axis-4 joint unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
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7 Replace the axis-5 to axis-6 transition cabling. Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number...
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5.6.6 Replacing the axis-6 joint unit Continued Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the CRB 15000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
6 Calibration 6.1 Calibration method and when to calibrate Calibration method The CRB 15000 torque sensors are calibrated with the routine TorqueSensorCal which is available in the System Module TorqueSensorCalib. No external calibration tools are required. The calibration method for the robot consists of calibrating the motor torque sensors, which are installed to monitor and measure the motor torque.
System Module TorqueSensorCalib. No external calibration tools are required. The torque sensor calibration routine checks and calibrates the torque sensors of CRB 15000. This calibration routine must be run in manual operating mode. The torque sensor calibration routine checks and calibrates the torque sensors for the CRB 15000.
8 Decommissioning 8.1 Environmental information Introduction ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or upcycled helps to reduce the usage of natural resources.
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China RoHS symbol The following symbol shows the information to hazardous substances and the environmental protection use period of CRB 15000 according to "Management Methods for the Restriction of the Use of Hazardous Substances in Electrical and Electronic Products (SJ/T 11364-2014) ".
9.4 Screw joints 9.4 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.
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9 Reference information 9.7 Special tools Tools and equipment with spare part number: (These tools can be ordered from ABB) Lifting accessories Lifting aid 3HAC077788-001 xx2100000465 Lifting aid 3HAC077789-001 xx2100000464 Guiding tools Guide pin, M4x120 3HAC077786-001 xx2100000463 Guide pin, M3x110...