Table Of Contents - ABB Robotics FlexGripper Product Manual

Table of contents

Overview of this manual ...................................................................................................................
1 Safety
1.1 Introduction ......................................................................................................
1.2 General safety information ..................................................................................
1.2.1 Safety in the robot ...................................................................................
1.2.2 Safety risks ............................................................................................
1.2.2.1 Safety risks during installation and service work on the FlexGripper .....
1.2.2.2 Safety risks related to tools/workpieces ...........................................
1.2.2.3 Safety risks related to high speed ...................................................
1.2.2.4 Safety risks during operational disturbances .....................................
1.2.2.5 Risks associated with live electric parts ...........................................
1.2.3 Safety actions .........................................................................................
1.2.3.1 Safety fence dimensions ...............................................................
1.2.3.2 Fire extinguishing ........................................................................
1.2.3.3 Enabling device and hold-to-run functionality ....................................
1.3 Safety related instructions ..................................................................................
1.3.1 Safety signals in the manual ......................................................................
1.3.2 Safety symbols on the FlexGripper labels ....................................................
1.3.3 Safety guidelines ....................................................................................
2 FlexGripper-Claw
2.1 Specification ....................................................................................................
2.2 Mechanical structure & working principle ...............................................................
2.2.1 General .................................................................................................
2.2.2 Claw unit ...............................................................................................
2.2.3 Push plate unit ........................................................................................
2.3 Installation and Commissioning ...........................................................................
2.3.1 Overview ...............................................................................................
2.3.2 Unpacking .............................................................................................
2.3.3 Adjustment ............................................................................................
2.3.4 Mounting the new gripper .........................................................................
2.3.5 Commissioning .......................................................................................
2.4 Maintenance ....................................................................................................
2.4.1 General .................................................................................................
2.4.2 Regular Inspection of new gripper ..............................................................
2.4.3 Regular replacement ................................................................................
2.4.4 Regular adjustment .................................................................................
2.5 Repair .............................................................................................................
2.5.1 Instruction .............................................................................................
2.5.2 Pneumatic cylinder ..................................................................................
2.5.2.1 Replacing the cylinder of the claw ...................................................
2.5.2.2 Replacing the cylinder of the top press plate .....................................
2.5.2.3 Replacing the cylinder of push plates ..............................................
2.5.3 Magnetic proximity switch .........................................................................
2.5.4 Solenoid valve ........................................................................................
2.5.5 Dress cable ............................................................................................
2.6 Trouble shooting ...............................................................................................
2.6.1 Start-up failures ......................................................................................
2.6.2 Gripper not responding ............................................................................
2.6.3 Wrong movement ....................................................................................
2.6.4 Low performance ....................................................................................
2.6.5 Problem jogging the gripper ......................................................................
2.6.6 Mechanical noise and vibration ..................................................................
2.6.7 Workpiece drop down ..............................................................................
2.6.8 No Input signal detected ...........................................................................
Product Manual - FlexGripper-Claw
4GAA40401009901-001 Revision: A
© Copyright 20132019 ABB. All rights reserved.
Table of contents
7
9
9
10
10
12
12
13
14
15
16
18
18
19
20
21
21
23
24
25
25
30
30
32
33
35
35
36
38
39
42
48
48
49
50
51
53
53
54
54
57
60
62
66
68
70
70
71
72
73
74
75
76
77
5