ABB CRB 15000 Product Manual page 6

Table of contents
3.6.3 The SafeMove configurator app on FlexPendant ...........................................
3.6.4 Guidelines for transient and quasi-static contact, CRB 15000 ..........................
3.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio ...................
3.6.6 Information about Collaborative Speed Control add-in ....................................
3.6.7 Speed control .........................................................................................
3.6.7.1 Configuration of one PROFINET-base laser scanner (RobotWare 7.5 or
3.6.7.2 Configuration of one PROFIsafe-based laser scanner (RobotWare 7.6 or
3.6.7.3 Configuration of two PROFIsafe-based laser scanners (RobotWare 7.6 or
3.6.7.4 Configuration of one PROFIsafe-based laser scanner (RobotWare 7.10 or
3.6.7.5 Configuration of two PROFIsafe-based laser scanners (RobotWare 7.10
3.6.7.6 Configuration of one SafetyIO-base laser scanner (RobotWare 7.6 or
3.6.7.7 Configuration of two SafetyIO-base laser scanners (RobotWare 7.6 or
3.6.7.8 Speed control strategies ...............................................................
3.6.8 Use cases of safety configurations .............................................................
4 Maintenance
4.1 Introduction ......................................................................................................
4.2 Maintenance schedule and expected component life ...............................................
4.2.1 Specification of maintenance intervals ........................................................
4.2.2 Maintenance schedule .............................................................................
4.3 Inspection activities ...........................................................................................
4.3.1 Inspecting the robot .................................................................................
4.3.2 Inspecting the cable harness ....................................................................
4.4 Cleaning activities .............................................................................................
4.4.1 Cleaning the CRB 15000 ...........................................................................
4.5 Testing activities ...............................................................................................
4.5.1 Testing the brake release functionality ........................................................
4.5.2 Running the Cyclic Brake Check routine ......................................................
4.5.3 Testing the functionality of the joint electronics .............................................
5 Repair
5.1 Introduction ......................................................................................................
5.2 General procedures ...........................................................................................
5.2.1 Mounting instructions for sealings ..............................................................
5.3 Cable harness ..................................................................................................
5.3.1 Replacing the base cabling ......................................................................
5.3.2 Replacing the axis-1 cabling ......................................................................
5.3.3 Replacing the axis-2 cabling ......................................................................
5.3.4 Replacing the axis-3 cabling .....................................................................
5.3.5 Replacing the axis-4 cabling .....................................................................
5.3.6 Replacing the axis-5 cabling .....................................................................
5.3.7 Replacing the axis-6 cabling .....................................................................
5.3.8 Replacing the axis-5 to axis-6 transition cabling ...........................................
5.3.9 Replacing the brake release unit ...............................................................
5.4 Upper and lower arms ........................................................................................
5.4.1 Replacing the lower arm ..........................................................................
5.4.2 Replacing the housing .............................................................................
5.4.3 Replacing the tubular ..............................................................................
5.4.4 Replacing the wrist housing ......................................................................
5.4.5 Replacing the tool flange and axis-6 inner flange ..........................................
5.4.6 Replacing the arm-side interface ...............................................................
6
earlier) .......................................................................................
later and PLC acting as Master) ......................................................
later and PLC acting as Master) ......................................................
later and OmniCore acting as Master) ..............................................
or later and OmniCore acting as Master) ..........................................
later) .........................................................................................
later) .........................................................................................
© Copyright 2021 - 2023 ABB. All rights reserved.
120
132
135
141
142
142
148
152
156
160
164
169
174
177
183
183
184
184
185
186
186
190
195
195
196
196
198
199
201
201
202
202
205
205
221
291
343
378
417
463
487
488
506
506
525
562
597
636
643
Product manual - CRB 15000
3HAC077389-001 Revision: L