ABB IRB 14000 Operating Manual
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ABB IRB 14000 Operating Manual

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  • Page 1 ROBOTICS Operating manual IRB 14000...
  • Page 2 Trace back information: Workspace R18-1 version a11 Checked in 2018-03-25 Skribenta version 5.2.025...
  • Page 3 Operating manual IRB 14000 RobotWare 6.07 Document ID: 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 4 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.

  • Page 5: Table Of Contents

    Safety terminology .................... 1.5.1 Safety signals in the manual ..............1.5.2 Protective stop and emergency stop ............Introduction to the IRB 14000 robot system What is IRB 14000? ................... What is a FlexPendant? ..................What is RobotWare? ..................What is RobotStudio? ..................
  • Page 6 Table of contents 5.3.5 Arm-Angle Reference Direction ..............5.3.6 Limit avoidance distance ................5.3.7 Collision Detection Memory ............... 5.3.8 Friction compensation lead through factor ........... Index Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 7: Overview Of This Manual

    Overview of this manual Overview of this manual About this manual This manual contains instructions for daily operation of the IRB 14000 robot system. Usage This manual should be used during operation. Who should read this manual? This manual is intended for: •...
  • Page 8 Updated the system parameter Connection Timeout Multiplier on page • Updated the Limitations section of the system parameter Arm-Angle Definition on page • Safety section restructured. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 9: Product Documentation

    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.
  • Page 10 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 troubleshooters. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 11: Safety

    These topics are covered in the Product Manuals supplied with the robot. Note The integrator is responsible for the safety of the final application. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 12: Applicable Safety Standards

    Only robots with protection Clean Room. Deviations from ISO 10218-1:2011 ISO 10218-1:2011 was developed with conventional industrial robots in mind. Deviations from the standard are motivated for IRB 14000 in the table below. More information about ISO 10218-1 compliance is given in technote_150918. Requirement...
  • Page 13 Requirement Deviation for IRB Motivation 14000 §5.12.1 Limiting the IRB 14000 does not The IRB 14000 robot is intended for collab- range of motion by ad- have adjustable mech- orative applications where contact between justable stops anical stops or provi- robot and the operator is harmless.

  • Page 14: Safety Actions

    The plant designer may have placed additional emergency stop devices in convenient places. Refer to your plant or cell documentation to find out where these are placed. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 15: Recover From Emergency Stops

    Locate and reset the device or devices that gave the emergency stop condition. Press the Motors On button on the Quickset menu on the FlexPendant to recover from the emergency stop condition. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 16: Extinguishing Fires

    Select fire extinguisher Always use carbon dioxide extinguishers when extinguishing fires in electrical equipment such as the robot or the controller. Do not use water or foam. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 17: Working In A Safe Manner

    Always test the emergency stop button to make sure it works if a custom connection cable is used. Personal protective equipment Always use suitable personal protective equipment, based on the risk assessment for the robot installation. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 18: About The Manual Mode

    The safety stop mechanism and the Cartesian speed supervision are always active, both while operating in manual and automatic mode. Operating speed In manual reduced speed mode the movement is limited to 250 mm/s. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 19: About The Automatic Mode

    A welding manipulator needs maintenance. Taking the welding manipulator out of production also means that a work bench as well as a material handling manipulator must be taken out of production to avoid personnel hazards. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 20: Safety Terminology

    ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product. xx0200000023 Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 21 Significance NOTE Describes important facts and conditions. xx0100000004 Describes where to find additional information or how to do an operation in an easier way. xx0100000098 Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 22: Protective Stop And Emergency Stop

    1.5.2 Protective stop and emergency stop 1.5.2 Protective stop and emergency stop Overview The protective stops and emergency stops are described in the product manual for the robot. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 23: Introduction To The Irb 14000 Robot System

    6-axis robots. The IRB 14000 integrated controller The IRB 14000 integrated controller is based on the standard IRC5 controller, and contains all functions needed to move and control the robot. The robot control software, RobotWare, supports every aspect of the robot system, such as motion control, development and execution of application programs, communication etc.

  • Page 24: What Is A Flexpendant

    2 Introduction to the IRB 14000 robot system 2.2 What is a FlexPendant? 2.2 What is a FlexPendant? Introduction to the FlexPendant The FlexPendant is a hand held operator unit used to perform many of the tasks involved when operating a robot system, such as running programs, jogging the manipulator, modifying robot programs and so on.

  • Page 25: What Is Robotware

    2.3 What is RobotWare? Introduction to RobotWare RobotWare is a family of software products from ABB Robotics. The products are designed to make you more productive and lower your cost of owning and operating a robot. ABB Robotics has invested many years into the development of these products and they represent knowledge and experience based on several thousands of robot installations.

  • Page 26: What Is Robotstudio

    2.4 What is RobotStudio? Overview RobotStudio is an engineering tool for the configuration and programming of ABB robots, both real robots on the shop floor and virtual robots in a PC. To achieve true offline programming, RobotStudio utilizes ABB VirtualRobot™ Technology.

  • Page 27: What Is Robotstudio Online

    2 Introduction to the IRB 14000 robot system 2.5 What is RobotStudio Online? 2.5 What is RobotStudio Online? Introduction to RobotStudio Online RobotStudio Online is a suite of Windows Store applications intended to run on Windows 10 tablets. It provides functionality for the shop floor commissioning of robot systems.
  • Page 28 2 Introduction to the IRB 14000 robot system 2.5 What is RobotStudio Online? Continued RobotStudio Online Apps Description Jog is a tool for manual positioning (moving or jogging) with IRC5 controllers. xx1400002048 Tune is a tool for shop floor editing of RAPID programs with IRC5 controllers.

  • Page 29: Using The Irb 14000

    The axes of the robot can be jogged manually using the joystick. The following illustration shows the location and movement patterns for each axis. xx1500000254 Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 30 Y axis. Twisting the joystick will move the robot along the Z axis. xx1500000007 Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 31: Jogging

    For more information on how to jog robots, see the Jogging section in Operating manual - IRC5 with FlexPendant. Note This manual only describes the settings that are specific for the IRB 14000. The jogging window The jogging functions are found in the Jogging window. The most commonly used are also available under the Quickset menu.
  • Page 32 Note that the operator panel is located under the Quickset menu. For more information on how to switch between manual and automatic mode, see Operating modes on page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 33: Motion Modes

    The tool center point is rotated around the direction of the selected coordinate system’s axes. The arm mode The IRB 14000 robot, with seven axes, has one additional motion mode, the arm mode. All of the other jogging settings are the same as for other robots. •...

  • Page 34: Coordinated Jogging

    3.2.3 Coordinated jogging Introduction The IRB 14000 robot is pre-installed with the RobotWare option MultiMove coordinated, which makes it possible to jog the two arms in coordinated mode. Coordinated jogging has to be setup by creating a coordinated work object. The work object should be setup for the arm that is holding the work piece.
  • Page 35 Turn off coordination in one of following ways: • Click the Turn coordination off button on the Quickset menu. • Deactivate the work object. • Deactivate the work object coordinate system. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 36: Lead-Through

    If the load is lighter than defined, the effect will be the same as if you are pulling the robot arm upwards. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 37: Operating Modes

    Introduction The IRB 14000 has two operating modes, Manual mode and Automatic mode. Note Note that the IRB 14000 does not go to motors off when changing the operating mode. Note The IRB 14000 goes automatically to motors on when jogging or when tapping the play button or step button on the FlexPendant.
  • Page 38 Note It is also possible to use the predefined I/O-signals to change and confirm the operating mode, see I/O signals on page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 39: Collision Avoidance

    3.5 Collision avoidance Introduction The IRB 14000 has a built in functionality called Collision Avoidance that is active both during jogging and when running programs. Collision avoidance monitors the geometrical models of the robot arms and the body, and the robot stops if any of the parts get too close to each other.
  • Page 40 The safety distance between two links can be decreased by adding a row to this XML file, but it cannot be increased to a higher value than defined by the system parameter Coll-Pred Safety Distance. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 41: Collision

    3.6 Collision 3.6 Collision Overview This section provides you an overview of the response of IRB 14000 robot system in the case of a collision. Collision If a collision is detected on an arm, the collided arm stops and the other arm keeps moving.

  • Page 42: Programming And Testing

    The arm-angle can, in a simplified way, be described as the angle of the arm seen from an axis that goes from the centre of axis 2 to the centre of the WCP (wrist Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 43 Coordinated programming using MultiMove The IRB 14000 robot is pre-installed with the RobotWare option MultiMove coordinated, which makes it possible to program the two arms in coordinated mode. For more information about MultiMove and coordinated jogging, see Application manual - MultiMove.
  • Page 44 For more information, see Technical reference manual - RAPID Instructions, Functions and Data types. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 45: I/O Signals

    3.8 I/O signals 3.8 I/O signals Introduction It is possible to connect different types of I/O signals to the IRB 14000, both digital I/O signals and different types of fieldbuses (industrial networks). For more information about connecting I/O signals, see Product manual - Product.ProductName and Circuit diagram - IRB 14000.

  • Page 46: User Authorization

    Limit or Global Speed Limit an event message will take focus on the FlexPendant after restart to notify the user of the change. For more information about the system parameters, see System parameters on page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 47: Calibration

    A fine calibration should only be performed by a qualified service engineer. For more information see section Calibration in Product manual - Product.ProductName. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 48: Calibration Scale And Correct Axis Position

    This illustration shows the positions of the calibration scales and marks on the robot. The number aside of the enlargement corresponds to the axis number. xx1500000526 Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 49 The table below specifies the exact axis positions in degrees. Axis IRB 14000 ROB_R IRB 14000 ROB_L 0° 0° -130° -130° 30° 30° 0° 0° 40° 40° 0° 0° -135° 135° Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 50: Updating Revolution Counters

    Select Debug and tap PP to Main. Select Debug and tap Call Routine... Select CalHall. Go to Motor On and press the Start button. Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 51 Action In the calibration with hall sensors routine (CalHall), tap 2 to select the function of updating the revolution counters. xx1400002694 Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 52 Joints 1, 2, 3 and 4 are selectable in the first window. Tap Next to open the second window where joints 5, 6 and 7 are selectable. xx1400002695 xx1400002696 Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 53 Calibration order: axis 1-2-3-4-5-6-7. Note This procedure may take several minutes. xx1400002697 Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 54 4 Calibration 4.3 Updating revolution counters Continued Action When the sampling of hall sensors is finished, tap OK to confirm. xx1400002898 Continues on next page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 55 (Calibration order: axis 1-2-3-4-5-6-7.) • The hall sensor is defect. Perform troubleshooting of I/O signals. Possible replacement of hall sensor may be required. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 56: Verifying The Calibration Position

    Calibration scale and correct axis pos- axes align correctly. If they do not, then ition on page 48 Updating revolution update the revolution counters! counters on page Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 57: System Parameters

    5 System parameters 5.1 Introduction About the system parameters This section describes the IRB 14000 specific system parameters. The parameters are divided into the topic and type they belong to. For information about other system parameters, see Technical reference manual - System parameters.

  • Page 58: Topic I/O System

    Cfg name CollAvoidance Description This parameter is currently applicable only to IRB 14000 (YuMi robot). The action value Collision Avoidance is used to activate the Collision Avoidance functionality. By default this functionality is off in robots. Collision Avoidance monitors a detailed geometric model of the robot. If two bodies of the model come too close to each other, the controller warns about a predicted collision and stops the robot.

  • Page 59: Connection Timeout Multiplier

    It is used together with RPI to calculate the timeout on connections. RPI multiplied by Connection Timeout Multiplier gives the maximum time before dropping the connection. Note For the IRB 14000 robot (YuMi) this parameter may have to be tuned depending on your network setup. Prerequisites The option EtherNet/IP Scanner/Adapter must be installed.

  • Page 60: Topic Motion

    (for example robot-links) are considered to be in collision. Allowed values A value between 0.001 to 1 meter. Default value is 0.01 meter. Related information Collision Avoidance on page 58 Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 61: Global Speed Limit

    The maximum value for the robot types are: Robot type Maximum value IRB 14000 1.5 m/s Allowed values A number between 0.1 and 20. The default value is 20. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 62: Arm Check Point Speed Limit

    The maximum value for the robot types are: Robot type Maximum value IRB 14000 0.75 m/s Allowed values A number between 0.1 and 20. The default value is 0.75. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 63: Arm-Angle Definition

    Arm-Angle Definition parameter is not supported in RW 6.07 or later versions. Allowed values New or Old. The default value is New. Related information Operating manual - IRB 14000 Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 64: Arm-Angle Reference Direction

    Reference direction parallel with a line passing through axis 1 of the robot. The default value is 0. Related information Operating manual - IRB 14000 Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 65: Limit Avoidance Distance

    A value between -1 to 100 radians. The default value is 0.017453 radians. Setting a negative value will disable the functionality. Related information Operating manual - IRB 14000 Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.

  • Page 66: Collision Detection Memory

    Allowed values A value in the interval 0 to 0.5, specifying the movement in seconds. For the IRB 14000 robot the default value is 0 s and hence the robot does not back off. Setting the value to 0 s (disabling backing after collision) may leave the robot in a state with residual forces remaining after a collision.

  • Page 67: Friction Compensation Lead Through Factor

    IRB 14000 Configuring this parameter in any other robot will not have any effect. Allowed values A value between 0.0 and 1.0. Default value is 0.6. Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 68 This page is intentionally left blank...

  • Page 69: Index

    31 EN IEC, 12 joystick directions, 29 EN ISO, 12 safety, 12 symbols lead-through, 36 safety, 20 load, 36 UAS, user authorization system, 46 Operating manual - IRB 14000 3HAC052986-001 Revision: E © Copyright 2015-2018 ABB. All rights reserved.
  • Page 72 Robotics and Motion No. 4528 Kangxin Highway PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2015-2018 ABB. All rights reserved.

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