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5.7
Motors ............................................................................................................
5.7.1
Replacing the axis-1 motor .......................................................................
5.7.2
Replacing the axis-2 motor ........................................................................
5.7.3
Replacing the axis-3 motor ........................................................................
5.7.4
Replacing the axis-4 motor ........................................................................
5.7.5
Replacing the axis-5 motor ........................................................................
5.7.6
Replacing the axis-6 motor ........................................................................
5.8
Gearboxes .......................................................................................................
5.8.1
Replacing the axis-1 gearbox ....................................................................
5.8.2
Replacing the axis-2 gearbox ....................................................................
5.8.3
Replacing the axis-3 gearbox ....................................................................
5.8.4
Replacing the axis-4 gearbox ....................................................................
6
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
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
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 change speed value in FlexPendant ........................................................
7.11 Movement in Safe area not in full speed or at zero speed .........................................
8
8.1
Introduction to decommissioning .........................................................................
8.2
Environmental information ..................................................................................
8.3
Scrapping of robot .............................................................................................
9
9.1
Introduction ......................................................................................................
9.2
Applicable standards .........................................................................................
9.3
Unit conversion .................................................................................................
9.4
Screw joints ....................................................................................................
Product manual - CRB 1100
3HAC078007-001 Revision: J
© Copyright 2021-2023 ABB. All rights reserved.
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Table of Contents
Troubleshooting
