ABB CRB 15000 Product Manual page 7

5.5 Swing and base ................................................................................................
5.5.1 Replacing the base .................................................................................
5.5.2 Replacing the swing ................................................................................
5.6 Joint units ........................................................................................................
5.6.1 Replacing the axis-1 joint unit (CRB 15000-5/0.95) ........................................
5.6.2 Replacing the axis-1 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) .....
5.6.3 Replacing the axis-2 joint unit (CRB 15000-5/0.95) ........................................
5.6.4 Replacing the axis-2 joint unit (CRB 15000-10/1.52 and CRB 15000-12/1.27) .....
5.6.5 Replacing the axis-3 joint unit ...................................................................
5.6.6 Replacing the axis-4 joint unit ...................................................................
5.6.7 Replacing the axis-5 joint unit and the axis-5 to axis-6 transition cabling ...........
5.6.8 Replacing the axis-6 joint unit ...................................................................
6 Calibration
6.1 Calibration methods ...........................................................................................
6.2 Calibrating the torque sensors .............................................................................
6.3 Jogging directions ............................................................................................
6.4 Calibrating with Wrist Optimization method ...........................................................
7 Troubleshooting
7.1 Introduction to troubleshooting ............................................................................
7.2 Mechanical noise or dissonance ..........................................................................
7.3 Manipulator collapses on power down ...................................................................
7.4 Brake release tool does not work .........................................................................
7.5 Drive system communication link and DC link are both down during robot running ........
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 System failure when changing PROFINET-based laser scanner to SafetyIO-based laser
scanner ...........................................................................................................
7.10 Movement in Safe area not in full speed or at zero speed .........................................
7.11 Unable to remove or reselect installed options in Collaborative Speed Control add-in ....
7.12 Unexpected robot movement when starting the program in Protecting Area .................
7.13 Diagnostic LEDs on joint unit drive board ..............................................................
8 Decommissioning
8.1 Introduction to decommissioning .........................................................................
8.2 Environmental information ..................................................................................
8.3 Scrapping of robot .............................................................................................
9 Reference information
9.1 Introduction ......................................................................................................
9.2 Applicable standards .........................................................................................
9.3 Unit conversion .................................................................................................
9.4 Screw joints ....................................................................................................
9.5 Weight specifications .........................................................................................
9.6 Standard toolkit ................................................................................................
9.7 Special tools ....................................................................................................
Index
Product manual - CRB 15000
3HAC077389-001 Revision: L
© Copyright 2021 - 2023 ABB. All rights reserved.
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