ABB CRB 1300 Product Manual page 7

5.4 Swing and base ................................................................................................
5.4.1 Replacing the base ..................................................................................
5.4.2 Replacing the swing ................................................................................
5.4.3 Replacing the axis-1 mechanical stops ........................................................
5.4.4 Replacing the axis-2 mechanical stops ........................................................
5.5 Upper and lower arms ........................................................................................
5.5.1 Replacing the lower arm ...........................................................................
5.5.2 Replacing the housing and extender unit .....................................................
5.5.3 Replacing the tubular and tilt unit ...............................................................
5.5.4 Replacing the axis-3 mechanical stops ........................................................
5.5.5 Replacing the axis-4 mechanical stops ........................................................
5.6 Motors ............................................................................................................
5.6.1 Replacing the axis-1 motor ........................................................................
5.6.2 Replacing the axis-2 motor ........................................................................
5.6.3 Replacing the axis-3 motor ........................................................................
5.6.4 Replacing the axis-4 motor ........................................................................
5.6.5 Replacing the axis-5 motor ........................................................................
5.6.6 Replacing the axis-6 motor ........................................................................
5.7 Gearboxes .......................................................................................................
5.7.1 Replacing the axis-1 gearbox ....................................................................
5.7.2 Replacing the axis-2 gearbox ....................................................................
5.7.3 Replacing the axis-3 gearbox ....................................................................
5.7.4 Replacing the axis-4 gearbox ....................................................................
6 Calibration
6.1 Introduction to calibration ...................................................................................
6.1.1 Introduction and calibration terminology ......................................................
6.1.2 Calibration methods .................................................................................
6.1.3 When to calibrate ...................................................................................
6.2 Synchronization marks and axis movement directions .............................................
6.2.1 Synchronization marks and synchronization position for axes .........................
6.2.2 Calibration movement directions for all axes ................................................
6.3 Updating revolution counters ...............................................................................
6.3.1 Updating revolution counters on OmniCore robots ........................................
6.4 Calibrating with Axis Calibration method ...............................................................
6.4.1 Description of Axis Calibration ..................................................................
6.4.2 Calibration tools for Axis Calibration ...........................................................
6.4.3 Installation locations for the calibration tools ...............................................
6.4.4 Axis Calibration - Running the calibration procedure ......................................
6.4.5 Reference calibration ...............................................................................
6.5 Calibrating with Wrist Optimization method ...........................................................
6.6 Verifying the calibration ......................................................................................
6.7 Checking the synchronization position ..................................................................
7 Troubleshooting
7.1 Introduction to troubleshooting ............................................................................
7.2 Oil and grease stains on motors and gearboxes ......................................................
7.3 Mechanical noise or dissonance ..........................................................................
7.4 Manipulator collapses on power down ...................................................................
7.5 Motor temperature too high .................................................................................
7.6 Communication failure between PROFIsafe-based laser scanner, PLC, and controller ....
7.7 Communication failure between PLC and controller .................................................
7.8 Communication failure between scalable I/O device and controller .............................
7.9 Errors related to stopped background task T_SWIFTI_LED .......................................
7.10 Unable to remove or reselect installed options in Collaborative Speed Control add-in ....
7.11 Unexpected robot movement when starting the program in Protecting Area .................
Product manual - CRB 1300
3HAC083111-001 Revision: B
© Copyright 2022-2023 ABB. All rights reserved.
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