Product specification - IRB 14000

Product specification - IRB 14000
ROBOTICS
Product specification
IRB 14000
Trace back information:
Workspace R17-2 version a19 (not checked in)
Published 2017-10-17 at 05:04:41
Skribenta version 5.1.011
Product specification
IRB 14000
Document ID: 3HAC052982-001
Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2015-2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
Table of contents
Table of contents
1
Overview of this specification ..........................................................................................................
7
Description
9
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
9
9
12
15
15
17
18
19
20
25
25
26
28
29
29
30
32
34
34
35
37
37
38
38
41
42
43
44
Grippers
47
2.1
47
47
48
54
54
59
62
63
65
66
66
67
68
71
73
75
75
2.2
2.3
2.4
3
Structure .........................................................................................................
1.1.1 Introduction to structure ...........................................................................
1.1.2 The Robot ..............................................................................................
Safety .............................................................................................................
1.2.1 Applicable standards ...............................................................................
1.2.2 Safety functions ......................................................................................
Installation .......................................................................................................
1.3.1 Operating requirements ............................................................................
1.3.2 Mounting the manipulator .........................................................................
Load diagram ...................................................................................................
1.4.1 Introduction to load diagram ......................................................................
1.4.2 Load diagram .........................................................................................
1.4.3 Maximum load and moment of inertia ..........................................................
Mounting of equipment .......................................................................................
1.5.1 General .................................................................................................
1.5.2 Robot ....................................................................................................
1.5.3 Tool flange .............................................................................................
Calibration .......................................................................................................
1.6.1 Fine calibration .......................................................................................
1.6.2 Absolute accuracy calibration ....................................................................
Maintenance and troubleshooting .........................................................................
1.7.1 Introduction to maintenance and trouble shooting .........................................
Robot motion ....................................................................................................
1.8.1 Working range and type of motion ..............................................................
1.8.2 Performance according to ISO 9283 ............................................................
1.8.3 Velocity .................................................................................................
1.8.4 Stopping distance / time ...........................................................................
Customer connections .......................................................................................
Structure .........................................................................................................
2.1.1 Introduction ............................................................................................
2.1.2 Function modules ....................................................................................
Technical data ..................................................................................................
2.2.1 General .................................................................................................
2.2.2 Servo module .........................................................................................
2.2.3 Vacuum module ......................................................................................
2.2.4 Vision module .........................................................................................
2.2.5 Fingers ..................................................................................................
Installation .......................................................................................................
2.3.1 Operating requirements ............................................................................
2.3.2 Recommended standard tightening torque ...................................................
2.3.3 Mounting the gripper ................................................................................
2.3.4 Mounting the fingers ................................................................................
2.3.5 Mounting tools to the vacuum module .........................................................
Maintenance and trouble shooting ........................................................................
2.4.1 Introduction ............................................................................................
Controller
77
3.1
3.2
3.3
77
80
82
83
Overview .........................................................................................................
Connecting power and the FlexPendant ................................................................
Connecting a PC and Ethernet based options .........................................................
3.3.1 Connectors on the computer unit ...............................................................
Product specification - IRB 14000
5
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
Table of contents
3.4
3.5
3.6
3.7
3.8
4
Specification of variants and options
4.1
4.2
4.3
4.4
4.5
5
Connecting I/O signals .......................................................................................
Connecting fieldbuses ........................................................................................
Connecting safety signals ...................................................................................
Memory functions ..............................................................................................
3.7.1 SD-card memory .....................................................................................
3.7.2 Connecting an USB memory .....................................................................
What is Cartesian speed supervision? ...................................................................
99
Introduction to variants and options ......................................................................
Manipulator ......................................................................................................
Grippers ..........................................................................................................
Basic ..............................................................................................................
Unlisted options ................................................................................................
Accessories
87
89
92
95
95
96
97
99
100
101
103
107
109
Index
111
6
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
Overview of this specification
Overview of this specification
About this product specification
It describes the performance of the manipulator or a complete family of manipulators
in terms of:
•
The structure and dimensional prints
•
The fulfilment of standards, safety and operating requirements
•
The load diagrams, mounting of extra equipment, the motion and the robot
reach
•
The specification of variants and options available
The product specification also contains information for the controller.
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
•
Product managers and product personnel
•
Sales and marketing personnel
•
Order and customer service personnel
References
Reference
Document ID
Product manual - IRB 14000
3HAC052983-001
Operating manual - IRB 14000
3HAC052986-001
Product manual - Gripper IRB 14000
3HAC054949-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000.
3HAC048264-001
Product specification - Controller IRC5
IRC5 with main computer DSQC1000.
3HAC047400-001
Product specification - Robot user documentation, IRC5
with RobotWare 5
3HAC024534-001
Operating manual - IRC5 with FlexPendant
3HAC050941-001
Revisions
Revision
Description
-
New product specification
A
•
Minor corrections/update
B
•
•
Changed torque y for endurance load and maximum load.
Main cable options added.
Continues on next page
Product specification - IRB 14000
7
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
Overview of this specification
Continued
Revision
C
Description
•
•
•
Revised Tool I/O descriptions
Applicable ESD-standards added.
Modified maximum speed of IRB 14000 gripper from 20
mm/s to 25 mm/s.
D
Published in release R16.2. The following updates are done in this
revision:
• Added part number for Mill-Max connector used on the tool
flange. See Tool flange on page 32 and Tool flange on
page 45.
• Max current information added to Tool flange, see Customer
connection on tool flange.
• Max current added For pins A to D on the tool flange, when
they are not used as Ethernet interfaces, see Customer
connection on tool flange.
• Max current added for pin 9 on connector XS7 and XS8.
• Added line fusing, rated power, and required equipment information for power connection to the controller. See Connecting power supply on page 80.
E
Published in release R17.1. The following updates are done in this
revision:
• SoftMove is now supported since Robotware 6.04
• Restriction of load diagram added.
• Air input changed.
F
Published in release R17.2. The following updates are done in this
revision:
• Updated list of applicable standards.
• Minor corrections/update.
• YuMi is available for clean room.
8
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
1 Description
1.1 Structure
1.1.1 Introduction to structure
General
The IRB 14000 is ABB Robotics first generation dual arm robot with 7-axis each
arm, industrial robot, designed specifically for manufacturing industries that use
flexible robot-based automation, e.g. 3C industry. The robot has an open structure
that is especially adapted for flexible use, and can communicate extensively with
external systems.
Clean room robots
xx1700001493
Particle emission from the robot (IRB 14000 YuMi including gripper and suction
cup) fulfill Clean room class 5 standard according to DIN EN ISO 14644-1, -14.
According to IPA test result, the robot IRB 14000 YuMi is suitable for use in clean
room environments.
Classification of airborne molecular contamination, see below:
Test environment parameters
Cleanroom Air
Cleanliness
Class
(According to
ISO 14644-1)
Airflow velocity
Airflow pattern
Temperature
Relative humidity
ISO 1
0.45 m/s
vertical laminar
flow
22°C ± 0.5°C
45% ± 0.5%
Operation of
each axis
Test procedure parameters
Capacity
Attached payload Pressure of ultraclean air
Operation of
each arm
50% and 100%
0 kg
separately/togeth- separately
er
6 bar
Test result/Classification:
Continues on next page
Product specification - IRB 14000
9
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
Continued
When operated under the specified test conditions, the IRB 14000 YuMi including
gripper and suction cup is suitable for use in cleanrooms fulfilling the specifications
of the following Air Cleanliness Classes according to ISO 14644-1.
Test parameter(s)
Air Cleanliness Class
Capacity=50%
5
Capacity=100%
5
Suction cup
5
Overall result
5
Protection
The robot has IP30 protection.
Operating system
The robot is equipped with the controller (located inside the boby of the robot) and
robot control software, RobotWare. RobotWare supports every aspect of the robot
system, such as motion control, development and execution of application
programs, communication etc. See Product specification - Controller IRC5 with
FlexPendant (IRC5C included).
Safety
The safety standards are valid for the complete robot.
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example communication features - network communication
- and advanced functions such as multitasking, sensor control etc. For a complete
description on optional software, see Product specification - Controller software
IRC5.
Continues on next page
10
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.1.1 Introduction to structure
Continued
Arm axes
-
-
2
7
-
-
3
1
+
+
- +
+
4
+
-
+
2
+
- - +
-
+
5
1
6
-
+
-
+
-
5
7
3
4
6
+
+
+
xx1500000254
The arm configuration applies for both arms.
Product specification - IRB 14000
11
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.1.2 The Robot
1.1.2 The Robot
General
The IRB 14000 can only be mounted on table or other flat surface, no other mounting
position is permitted.
Robot
Handling capacity (kg)
Reach (m)
IRB 14000
0.5 kg
0.559 m
Data
Weight
IRB 14000
38 kg
Data
Description
Manipulator weight
Other technical data
Note
Airborne noise level The sound pressure level outside < 70 dB (A) Leq (acc. to the working space Machinery directive
2006/42/EG)
Power consumption
Path E-E2-E3-E4 in the ISO Cube, maximum load.
Type of movement
Power consumption (kW)
Average power consumption
< 0.17 kW
Robot in 0 degree position
IRB 14000
Brakes engaged
0.09 kW
Brakes disengaged
0.14 kW
xx0900000265
Position
Description
A
250 mm
Continues on next page
12
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.1.2 The Robot
Continued
Dimensions
470
220
96
187.5
571
(305)
Robot
75
399
(360)
421
260
CL
xx1500000103
Continues on next page
Product specification - IRB 14000
13
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.1.2 The Robot
Continued
Robot arms
(157)
(137)
265
36
166
251.5
27
40.5
40.5
(156)
30
xx1500000434
14
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
1.2 Safety
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
Standards, EN ISO
The product is designed in accordance with the requirements of:
Standard
Description
EN ISO 12100:2010
Safety of machinery - General principles for design - Risk assessment and risk reduction
EN ISO 13849-1:2015
Safety of machinery, safety related parts of control systems Part 1: General principles for design
EN ISO 13850:2015
Safety of machinery - Emergency stop - Principles for design
EN ISO 10218-1:2011 i
Robots for industrial environments - Safety requirements -Part
1 Robot
ISO 9787:2013
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9283:1998
Manipulating industrial robots, performance criteria, and related
test methods
EN ISO 14644-1:2015 ii
Classification of air cleanliness
EN ISO 13732-1:2008
Ergonomics of the thermal environment - Part 1
EN 61000-6-4:2007 +
A1:2011
IEC 61000-6-4:2006 +
A1:2010
EMC, Generic emission
EN 61000-6-2:2005
IEC 61000-6-2:2005
EMC, Generic immunity
EN IEC 60974-1:2012 iii
Arc welding equipment - Part 1: Welding power sources
EN IEC
60974-10:2014 iii
EN IEC 60204-1:2006
Arc welding equipment - Part 10: EMC requirements
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
IEC 60529:1989 + A2:2013 Degrees of protection provided by enclosures (IP code)
IEC 61340-5-1:2010
i
ii
iii
Protection of electronic devices from electrostatic phenomena
- General requirements
See Deviations from ISO 10218-1:2011 on page 16.
Only robots with protection Clean Room.
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
Continues on next page
Product specification - IRB 14000
15
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© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
Continued
Deviations from ISO 10218-1:2011
ISO 10218-1:2011 was developed with conventional industrial robots in mind.
Deviations from the standard are motivated for IRB 14000 in the table below. More
information about ISO 10218-1 compliance is given in technote_150918.
Requirement
Deviation for IRB
14000
Motivation
§5.7.1 Mode selector The mode selector is Automatic and manual mode are usability
which can be locked in implemented in soft- features for IRB 14000, but not safety feaeach position.
ware on FlexPendant. tures. Locking the operating mode does not
contribute to a necessary risk reduction. i
§5.12.1 Limiting the
range of motion by adjustable stops
(§5.12.2) or by safety
functions (§5.12.3).
i
IRB 14000 does not
have adjustable mechanical stops or provisions to install nonmechanical limiting
devices.
The IRB 14000 robot is intended for collaborative applications where contact between
robot and the operator is harmless. Limiting
the working range is then not necessary for
risk reduction. Note that PPE (Personal
Protective Equipment) may be required.
The selector is replaced by a selection through software and user authorities can be set to restrict
the use of certain functions of the robot (e.g. access codes).
European standards
Standard
Description
EN 614-1:2006 + A1:2009 Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 574:1996 + A1:2008
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
Standard
Description
ANSI/RIA R15.06
Safety requirements for industrial robots and robot systems
ANSI/UL 1740
Safety standard for robots and robotic equipment
CAN/CSA Z 434-14
Industrial robots and robot Systems - General safety requirements
ANSI/ESD S20.20:2007
Protection of Electrical and Electronic Parts, Assemblies and
Equipment (Excluding Electrically Initiated Explosive Devices)
Other standards
16
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.2.2 Safety functions
1.2.2 Safety functions
Functional safety
The following safety functions are inherent design measures in the control system,
contributing to power and force limiting. They are certified to category B,
performance level b, according to EN ISO 13849-1.
Safety functions
Description
Cartesian speed supervision
The Cartesian speed of the elbow (arm check point, ACP) and
the wrist (wrist center point, WCP) are supervised. If a limit is
exceeded, the robot motion is stopped and a message displayed to the user. The default speed limit can be modified
based on the risk assessment of the robot installation.
The function is active in both manual and automatic mode. The
speed limits are set by system parameters. See Operating
manual - IRB 14000
Protective stop (safety
stop)
The controller has an electrical input which can be accessed
in external devices mode to stop the robot, e.g. from a safety
PLC. The protective stop function removes power from the
actuators, and is a Category 0 stop, according to ISO 13850.
In standalone mode, the FlexPendant emergency stop button
is routed to this input, and utilizes the safety function to stop
the robot.
Additional safety features in the control system
Safety functions
Description
Three-position enabling
device
The FlexPendant is always equipped with a three-position enabling device, but for the IRB 14000 system the enabling device
is not used. Therefore the enabling device is disabled and inactive when the FlexPendant is connected to an IRB 14000
system, but it is enabled and active when connected to another
robot.
Connecting external
devices
External safety devices can be connected by removing the
safety bridge connector on the controller. This also allows for
stopping external machinery from the FlexPendant emergency
stop button with retained dual channel safety.
Collision detection
In case of an unexpected mechanical disturbance, like a collision, the robot will stop and then slightly back off from its stop
position.
Fire safety
The robot system complies with the requirements of UL (Underwriters Laboratories) for fire safety.
Electrical safety
The robot system complies with the requirements of UL for
electrical safety.
Safety lamp
As an option, a safety lamp mounted on the manipulator can
be connected. The lamp is activated when the controller is in
the MOTORS ON state.
Product specification - IRB 14000
17
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.3 Installation
1.3 Installation
Introduction to installation
IRB 14000 is intended for use in industrial environment.
Each arm can handle a maximum payload of 0.5 kg.
Continues on next page
18
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.3.1 Operating requirements
1.3.1 Operating requirements
Protection standard
Robot variant
Protection standard IEC529
Manipulator + controller
IP30
Explosive environments
The robot must not be located or operated in an explosive environment.
Working range limitations
EPS will not be selectable and no mechanical limitations available.
Ambient temperature
Description
Standard/Option
Temperature
Manipulator + controller
during operation
Standard
+ 5°C i (41°F) to + 40°C (104°F)
Complete robot during
Standard
transportation and storage
i
- 10°C (14°F) to + 55°C (131°F)
At low environmental temperature < 10ºC is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Relative humidity
Description
Relative humidity
Complete robot during operation, transportation and
storage
Max. 85% at constant temperature
Product specification - IRB 14000
19
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.3.2 Mounting the manipulator
1.3.2 Mounting the manipulator
Maximum load
Maximum load in to the base coordination system. See Figure below.
Table mounted
Force
Endurance load (in operation)
Max. load (emergency stop)
Force x
±89 N
±178 N
Force y
±147 N
±294 N
Force z
+380 ±140 N
+380 ±280 N
Torque x
±101 Nm
±202 Nm
Torque y
+14 ±98 Nm
+14 ±172 Nm
Torque z
±61 Nm
±122 Nm
Ty
Tx
Fz
Fx
Tz
Fy
xx1500000104
Fx
Force in the X plane
Fy
Force in the Y plane
Fz
Force in the Z plane
Tx
Bending torque in the X plane
Ty
Bending torque in the Y plane
Tz
Bending torque in the Z plane
Continues on next page
20
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.3.2 Mounting the manipulator
Continued
The table shows the various forces and torques working on the robot during different
kinds of operation.
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
Continues on next page
Product specification - IRB 14000
21
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.3.2 Mounting the manipulator
Continued
Fastening holes robot base
View from below.
10
8x
40
0
40
8x
8x
6Thru
0.3
0
98 -1
10.5
0.3
6
0.3
B-B
B
162
143
124
B
0
2x
6
0.06
C
124
143
6 m6
162
24
2x
6 H8
0.06
12
C
0
58 -1
12 ±2
(A) (2x)
C-C
xx1400002124
A
Guide pins, 3HNP00449-1, one is to fit round hole, the other is to fit slot hole.
Continues on next page
22
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.3.2 Mounting the manipulator
Continued
(A)
0
57 -2
8x M5
0.2
+0.025
6 +0.015
1.
6
DETAIL H
324
286
2
248
1.6
+0.025
6 +0.015
(B)
H
40
80
xx1400002121
Pos
Description
A
Master hole (round)
B
Alignment hole (slot)
Attachment bolts, specification
The table specifies the type of securing screws and washers to be used to secure
the robot directly to the foundation. It also specifies the type of pins to be used.
Suitable screws
M5x25
Suitable washers
5.3x10x1
Quantity
8 pcs
Quality
8.8
Guide pins
2 pcs, article number 3HNP00449-1
Tightening torque
3.8 Nm ± 0.38 Nm
Continues on next page
Product specification - IRB 14000
23
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.3.2 Mounting the manipulator
Continued
Level surface requirement
0.1
xx1500000627
24
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.4.1 Introduction to load diagram
1.4 Load diagram
1.4.1 Introduction to load diagram
Information
WARNING
It is very important to always define correct actual load data and correct payload
of the robot. Incorrect definitions of load data can result in overloading of the
robot.
If incorrect load data and/or loads are outside load diagram is used the following
parts can be damaged due to overload:
•
motors
•
gearboxes
•
mechanical structure
WARNING
In the robot system is the service routine LoadIdentify available, which allows
the user to make an automatic definition of the tool and load, to determine correct
load parameters. For detailed information, see Operating manual - IRC5 with
FlexPendant.
WARNING
Robots running with incorrect load data and/or with loads outside diagram, will
not be covered by robot warranty.
General
The load diagram includes a nominal pay load inertia, J0 of 0.001 kgm 2 . At different
moment of inertia the load diagram will be changed. For robots that are allowed
tilted, wall or inverted mounted, the load diagrams as given are valid and thus it is
also possible to use RobotLoad within those tilt and axis limits.
Control of load case by "RobotLoad"
To easily control a specific load case, use the calculation program ABB RobotLoad.
Contact your local ABB organization for more information.
The result from RobotLoad is only valid within the maximum loads and tilt angles.
There is no warning if the maximum permitted armload is exceeded. For over load
cases and special applications, contact ABB for further analysis.
Product specification - IRB 14000
25
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.4.2 Load diagram
1.4.2 Load diagram
IRB 14000-0.5/0.5 (without gripper)
0,20
0,15
Z - (m)
0,3 kg
0,4 kg
0,10
0,5 kg
0,05
0,00
0,00
0,05
0,10
L - (m)
xx1500000097
Continues on next page
26
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.4.2 Load diagram
Continued
IRB 14000-0.5/0.5 (with gripper)
Hand CoG, see table below.
0,20
0,15
Z - (m)
0,1 kg
0,10
0,15 kg
0,05
0,2 kg
0,00
0,00
84
0,05
L - (m)
xx1500000501
Mass (g)
Z (mm)
L (mm)
280
47.3
13.9
The load diagram with gripper is an example, given for the heaviest combination
of IRB 14000 Gripper options (servo + 2 vacuum modules), including fingers and
suction tools. Actual load capacity should be determined from the robot load
diagram and the mass data of the actual gripper and end effectors.
Product specification - IRB 14000
27
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.4.3 Maximum load and moment of inertia
1.4.3 Maximum load and moment of inertia
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J0x, J0y, J0z) in kgm 2 . L= √(X 2 + Y 2 ).
Full movement
Axis Robot variant
Max. value
5
IRB 14000-0.5/0.5
J5 = Mass x ((Z + 0.045) 2 + L 2 ) + max (J0x, J0y) ≤ 0.012 kgm 2
6
IRB 14000-0.5/0.5
J6 = Mass x L 2 + J0Z ≤ 0.009 kgm 2
xx1500000774
Position
Description
A
Center of gravity
J0x, J0y, J0z
Max. moment of inertia around the X, Y and Z axes at center of
gravity.
Wrist torque
The table below shows the maximum permissible torque due to payload.
Note
The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those
also are limited by main axes torques as well as dynamic loads. Also arm loads
will influence the permitted load diagram, contact your local ABB organization.
Robot variant
Max wrist torque
axes 4 and 5
Max wrist torque
axis 6
Max torque valid at
load
IRB 14000
0.64 Nm
0.23 Nm
0.5 kg
28
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.5.1 General
1.5 Mounting of equipment
1.5.1 General
Each arm ends with a tool flange, for mounting of available gippers, see Grippers
on page 47 or for customer specific equipment and on robot.
Below is an overview of the robot and tool flange, see Tool flange on page 32 and
Robot on page 30 for details.
Product specification - IRB 14000
29
3HAC052982-001 Revision: F
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1 Description
1.5.2 Robot
1.5.2 Robot
Top mounting interface body
455
B
A
150
150
3 x M4 Helicoil 2d
12 ±0.10
0.3
48
M8 (A)
24
2 x M4 Helicoil 2d
48
0.3
B
A
90
xx1500000495
Pos
Description
A
M8 hole for lifting eye, thru hole
Continues on next page
30
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.5.2 Robot
Continued
Chest mounting interface
A
340.9
30°
60
32
3 x M4
8
15
A
xx1500000494
Product specification - IRB 14000
31
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.5.3 Tool flange
1.5.3 Tool flange
(C)
(B)
(D)
(A)
(E)
(F)
xx1500000099
Pos
Description
A
4 x 2.9 thru holes for M2.5 screws
B
2E8 pin hole for alignment
C
15H7 for alignment, max depth 5 mm
D
Mill-Max (430-10-208-00-240000), spring-loaded header, double row 8 pad
connector for 24V and Ethernet or IO
E
Outer diam. 7.5e8 and inner diam. 4.4F10 for air hose
F
Calibration mark for axis 6
Continues on next page
32
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.5.3 Tool flange
Continued
2 E8
4
15 H7
3
15 ±0.03
8
63
19 ±0.03
R28.3
60
2
7.5e8
(A)
J
4
6.5
J
°
7
.
7
R2
2.5
6.5
HA
(B)
10.2
1.04 (± 0.20)
2.5
5.1
HA
°
0.5
+0.1
5.5 0
5.1
6
1
4.5
30 °
20
4x 2.9
0.2
4x 5.5
2.5
13.6
J-J
xx1500000098
Pos
Description
A
Dimensions air hose
B
Mill-Max (430-10-208-00-240000), spring-loaded header, double row 8 pad
connector
Product specification - IRB 14000
33
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.6.1 Fine calibration
1.6 Calibration
1.6.1 Fine calibration
General
Fine calibration is made by moving the axes so that the synchronization mark on
each joint is aligned, and running the CalHall routine. For detailed information on
calibration of the robot see Product manual - IRB 14000.
xx1500000526
34
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.6.2 Absolute accuracy calibration
1.6.2 Absolute accuracy calibration
Prerequisites
Requires RobotWare option Absolute Accuracy, see Product
specification - Controller software IRC5.
The calibration concept
Absolute Accuracy (AbsAcc) is a calibration concept, that ensures a TCP absolute
accuracy of better than ±1 mm in the entire working range.
Absolute Accuracy compensates for:
•
Mechanical tolerances in the robot structure
•
Deflection due to load
Absolute Accuracy calibration is focusing on positioning accuracy in the cartesian
coordinate system for the robot. It also includes load compensation for deflection
caused by the tool and equipment. Tool data from robot program is used for this
purpose. The positioning will be within specified performance regardless of load.
Calibration data
The user is supplied with robot calibration data (compensation parameter file,
absacc.cfg) and a certificate that shows the performance ("birth certificate"). The
difference between an ideal robot and a real robot without Absolute Accuracy may
reach up to 10 mm, resulting from mechanical tolerances and deflection in the
robot structure.
Continues on next page
Product specification - IRB 14000
35
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© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.6.2 Absolute accuracy calibration
Continued
Absolute Accuracy option
The Absolute Accuracy option is integrated in the controller algorithms for
compensation of the difference between the ideal and the real robot, and does not
need external equipment or calculation. Absolute Accuracy is a RobotWare option
and includes an individual calibration of the robot (mechanical arm). Absolute
Accuracy is a TCP calibration to reach a good positioning in the Cartesian
coordinate system.
xx1500000761
Product data
Typical production data regarding calibration are:
Robot
Positioning accuracy (mm)
IRB 14000-0.5/0.5
Average
Max
% Within 1 mm
0.3
0.6
100
36
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.7.1 Introduction to maintenance and trouble shooting
1.7 Maintenance and troubleshooting
1.7.1 Introduction to maintenance and trouble shooting
General
The robot requires only a minimum of maintenance during operation. It has been
designed to make it as easy to service as possible:
•
Maintenance-free AC motors are used.
•
Grease used for all gear boxes.
•
The cabling is routed for longevity.
•
It has a program memory “battery low” alarm.
Maintenance
The maintenance intervals depend on the use of the robot, the required maintenance
activities also depends on selected options. For detailed information on maintenance
procedures, see Maintenance section in the Product Manual.
Product specification - IRB 14000
37
3HAC052982-001 Revision: F
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1 Description
1.8.1 Working range and type of motion
1.8 Robot motion
1.8.1 Working range and type of motion
Robot motion
Axis
Type of motion
Degree of motion
Axis 1
Arm - Rotation motion
-168.5° to +168.5°
Axis 2
Arm - Bend motion
-143.5° to +43.5°
Axis 7
Arm - Rotation motion
-168.5° to +168.5°
Axis 3
Arm - Bend motion
-123.5° to +80°
Axis 4
Wrist - Rotation motion
-290° to +290°
Axis 5
Wrist - Bend motion
-88° to +138°
Axis 6
Flange - Rotation motion
-229° to +229°
Continues on next page
38
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.8.1 Working range and type of motion
Continued
Illustration, working range IRB 14000
The illustrations show the unrestricted working range of the robot.
Front view
1018
593
347
Z
Y
0
664
235
451
14
0
94
xx1500000105
Side view
1018
593
347
Z
0
X
681
274
0
53
60
90
405
94
xx1500000660
Continues on next page
Product specification - IRB 14000
39
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© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.8.1 Working range and type of motion
Continued
Top view
405
Y
0
53
60
274
X
664
235
14
0
451
680.8
xx1500000336
Isometric view
xx1500000661
40
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283
1.8.2 Performance according to ISO 9283
General
At rated maximum load, maximum offset and 1.5 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Position
Description
Position
Description
A
Programmed position
E
Programmed path
B
Mean position at program
execution
D
Actual path at program execution
AP
Mean distance from programmed position
AT
Max deviation from E to average path
RP
Tolerance of position B at re- RT
peated positioning
Tolerance of the path at repeated
program execution
Description
Values
IRB 14000
Pose repeatability, RP (mm)
0.02
Pose accuracy, AP (mm)
0.02
Linear path repeatability, RT (mm)
0.10
Linear path accuracy, AT (mm)
1.36
Pose stabilization time, Pst (s) within 0.1 mm of the position
0.37
Product specification - IRB 14000
41
3HAC052982-001 Revision: F
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1 Description
1.8.3 Velocity
1.8.3 Velocity
General
Robot variant
Axis 1 Axis 2 Axis 7 Axis 3 Axis 4 Axis 5 Axis 6
IRB 14000
180 °/s 180 °/s 180 °/s 180 °/s 400 °/s 400 °/s 400 °/s
Supervision is required to prevent overheating in applications with intensive and
frequent movements.
Resolution
Approximately 0.01 o on each axis.
42
Product specification - IRB 14000
3HAC052982-001 Revision: F
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1 Description
1.8.4 Stopping distance / time
1.8.4 Stopping distance / time
General
Stopping distance/time for emergency stop (category 0) at max speed, max
stretched out and max load, categories according to EN 60204-1. All results are
from tests on one moving axis. All stop distances are valid for floor mounted robot,
without any tilting.
Robot variant
IRB 14000
Axis
Category 0
A
B
1
23
0.37
2
23
0.37
7
26
0.40
3
26
0.40
Description
A
Stopping distance in degrees
B
Stop time (s)
Product specification - IRB 14000
43
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1 Description
1.9 Customer connections
1.9 Customer connections
Introduction to customer connections
Customer connection, the cables are integrated in the robot and the connectors
are placed on the left side at the base and in the tool flange.
The tool flange is equipped with an 8-pole pad-type connector for signal and power.
Positions E-H are for power (24V) and PE. Positions A-D are for signal, and can
be either Ethernet or IO signals.
Upon delivery, the robot has Ethernet on the flange positions A-D. The Ethernet
connection from each arm is routed to the LAN2 port on the main computer via an
internal Ethernet switch in the controller. The user can reconnect inside the
controller to instead get IO signals on the flanges. There is a female Ethernet
connector waiting next to the Ethernet switch inside of the controller, by which
flange positions A-D can instead be routed to XP12 on the left side panel of the
controller. There, cross connections to DI and DO connectors XS8 and XS7 can
easily be made.
On each flange, only one of Ethernet and IO signals can be used at the same time.
When selecting the IRB 14000 SmartGrippers, Ethernet will be used, and the Tool
IO signals on XP12 are not available on the flange. The Tool IO signals, on the
other hand, can be used when integrating a basic pneumatic or electric gripper
that is controlled by a small number of IO signals, and that is not Ethernet-based.
Robot base
For customer connections robot base, see Controller on page 77.
Continues on next page
44
Product specification - IRB 14000
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© Copyright 2015-2017 ABB. All rights reserved.
1 Description
1.9 Customer connections
Continued
Tool flange
Note
Customer signals (each arm) at tool flange is only available when no grippers
are selected. Tool connector type, Spring-loaded Header Double row, Mill-Max
(430-10-208-00-240000).
G
E
C
A
H
F
D
B
xx1500000492
Pin
Description
A
EtherNet RD-
B
EtherNet TD-
C
EtherNet RD+ (Max current = 2A, when not used as Ethernet signals)
D
EtherNet TD+ (Max current = 2A, when not used as Ethernet signals)
E
PE
F
Spare
G
0V, IO
H
24V, IO (Max current = 1 A/arm)
Product specification - IRB 14000
45
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2 Grippers
2.1.1 Introduction
2 Grippers
2.1 Structure
2.1.1 Introduction
General
The IRB 14000 gripper is a smart, multifunctional gripper for part handling and
assembly. The gripper has one basic servo module and two optional functional
modules, vacuum and vision. The three modules can be combined to provide five
different combinations for users in different applications.
A pair of getting-started fingers are provided together with the gripper for demo
and test purposes. These fingers should be replaced with fingers designed for the
actual application by the system integrator.
If the vacuum module option is selected, a first set of suction cups and filters are
provided together with the gripper.
Protection
The IRB 14000 gripper has IP30 protection.
Communication
The IRB 14000 gripper communicates with the IRB 14000 controller over an Ethernet
IP fieldbus. A RobotWare add-in, SmartGripper, is provided to facilitate the operation
and programming of the gripper. The add-in contains RAPID driver, FlexPendant
interface and configuration files.
Left and right
The IRB 14000 gripper can be mounted on left or right arm without restrictions. It
can also be moved between arms and between robots. After a gripper is installed
to the robot, the setup of Left or Right identity (chirality) of the gripper is done from
the FlexPendant interface.
Safety
The IRB 14000 gripper has a patented floating shell structure that helps absorb
impacts during collisions. End effectors such as fingers and suction tools need to
be designed for the actual application and included in the risk assessment by the
system integrator.
Product specification - IRB 14000
47
3HAC052982-001 Revision: F
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2 Grippers
2.1.2 Function modules
2.1.2 Function modules
General
The functions of the three gripper modules are described as follows.
Function module
Description
1
Servo
The servo module is the basic part of the gripper. It
gives the function of gripping objects. Fingers are installed on the base of the servo module, and finger
movement and force can be controlled and supervised.
2
Vacuum
The vacuum module contains the vacuum generator,
vacuum pressure sensor and blow-off actuator. When
the suction tools are mounted, the gripper can pick
up objects by the suction function and place the objects by the blow-off function.
3
Vision
The vision module contains a Cognex AE3 In-Sight
camera, supporting all functions of ABB Integrated
Vision.
The three function modules can be combined into five different possibilities as
listed in the following table.
Combination
Includes...
1
Servo
One servo module
2
Servo + Vacuum
One servo module and one vacuum module
3
Servo + Vacuum 1 + Vacuum 2
One servo module and two vacuum modules
4
Servo + Vision
One servo module and one vision module
5
Servo + Vision + Vacuum
One servo module, one vision module, and one
vacuum module
Continues on next page
48
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
2 Grippers
2.1.2 Function modules
Continued
Combination views
Servo
The following figure illustrates the gripper with one servo module.
xx1400002137
Continues on next page
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49
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2 Grippers
2.1.2 Function modules
Continued
Servo + Vacuum
The following figure illustrates the gripper with one servo module and one vacuum
module.
xx1400002138
Continues on next page
50
Product specification - IRB 14000
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2 Grippers
2.1.2 Function modules
Continued
Servo + Vacuum 1 + Vacuum 2
The following figure illustrates the gripper with one servo module and two vacuum
modules.
xx1400002139
Continues on next page
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2 Grippers
2.1.2 Function modules
Continued
Servo + Vision
The following figure illustrates the gripper with one servo module and one vision
module.
xx1400002140
Continues on next page
52
Product specification - IRB 14000
3HAC052982-001 Revision: F
© Copyright 2015-2017 ABB. All rights reserved.
2 Grippers
2.1.2 Function modules
Continued
Servo + Vision + Vacuum
The following figure illustrates the gripper with one servo module, one vacuum
module and one vision module.
xx1400002141
Product specification - IRB 14000
53
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2 Grippers
2.2.1 General
2.2 Technical data
2.2.1 General
Weight and load capacity
Combination
Weight (g)
Weight (g) of
without fingers, the whole gripsuction cup(s), per
and filter(s) i
Max. load capa- Max. load capacity (g) without city (g) of the
fingers, suction whole gripper ii
cup(s), and filter(s) ii
Servo
215
230
285
270
Servo + Vacuum 1
225.5
248
274.5
252
Servo + Vacuum 1 + 250
Vacuum 2
280
250
220
Servo + Vision
244
271
256
262
260.5
238
229
Servo + Vision + Vacu- 239.5
um 1
i
ii
The getting-started fingers weights 15 g, and the standard suction cups and filters weight 7.5 g per
set.
Load capacity = 500 - Weight
Center of gravity (CoG) limitations applied. See the robot load diagram.
Detailed mass data - Center of Gravity
Combination
CoG (mm) without fingers, suction CoG (mm) of the whole gripper
cup(s), and filter(s)
x
y
z
x
y
z
8.7
12.3
49.2
8.2
11.7
52
Servo + Vacu- 8.9
um 1
12.3
48.7
8.6
11.7
52.7
Servo + Vacu- 7.4
um 1 + Vacuum
2
12.4
44.8
7.1
11.9
47.3
Servo + Vision 7.9
12.4
48.7
7.5
11.8
52.7
Servo + Vision 8.2
+ Vacuum 1
12.5
48.1
7.8
11.9
50.7
Servo
Detailed mass data - Inertia
Inertia (kgm 2 ) without fingers,
suction cup(s), and filter(s)
Inertia (kgm 2 ) of the whole gripper
lxx
lyy
lzz
lxx
lyy
lzz
0.00017
0.00020
0.00008
0.00021
0.00024
0.00009
Servo + Vacu- 0.00017
um
0.00020
0.00008
0.00021
0.00024
0.00009
Servo + Vacu- 0.00020
um 1 + Vacuum
2
0.00024
0.00011
0.00025
0.00029
0.00012
Servo + Vision 0.00017
0.00019
0.00008
0.00021
0.00023
0.00008
Combination
Servo
Continues on next page
54
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© Copyright 2015-2017 ABB. All rights reserved.
2 Grippers
2.2.1 General
Continued
Combination
Inertia (kgm 2 ) without fingers,
suction cup(s), and filter(s)
Inertia (kgm 2 ) of the whole gripper
lxx
Servo + Vision 0.00018
+ Vacuum
lyy
lzz
lxx
lyy
lzz
0.00020
0.00009
0.00022
0.00024
0.00009
Tooldata definitions without fingers, suction cup(s), and filter(s)
Combination
Tooldata
Servo
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.215, [8.7, 12.3, 49.2], [1,
0, 0, 0], 0.00017, 0.00020, 0.00008] ]
Servo + Vacuum
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.226, [8.9, 12.3, 48.7], [1,
0, 0, 0], 0.00017, 0.00020, 0.00008] ]
Servo + Vacuum 1 + Vacuum 2 [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.250, [7.4, 12.4, 44.8], [1,
0, 0, 0], 0.00020, 0.00024, 0.00011] ]
Servo + Vision
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.229, [7.9, 12.4, 48.7], [1,
0, 0, 0], 0.00017, 0.00019, 0.00008] ]
Servo + Vision + Vacuum
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.240, [8.2, 12.5, 48.1], [1,
0, 0, 0], 0.00018, 0.00020, 0.00009] ]
Tooldata definitions with fingers, suction cup(s), and filter(s)
Combination
Tooldata
Servo
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.230, [8.2, 11.7, 52.0], [1,
0, 0, 0], 0.00021, 0.00024, 0.00009] ]
Servo + Vacuum
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.248, [8.6, 11.7, 52.7], [1,
0, 0, 0], 0.00021, 0.00024, 0.00009] ]
Servo + Vacuum 1 + Vacuum 2 [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.280, [7.1, 11.9, 47.3], [1,
0, 0, 0], 0.00025, 0.00029, 0.00012] ]
Servo + Vision
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.244, [7.5, 11.8, 52.7], [1,
0, 0, 0], 0.00021, 0.00023, 0.00008] ]
Servo + Vision + Vacuum
[ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.262, [7.8, 11.9, 50.7], [1,
0, 0, 0], 0.00022, 0.00024, 0.00009] ]
Continues on next page
Product specification - IRB 14000
55
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2 Grippers
2.2.1 General
Continued
Mass data, illustration
The following figure shows the mass data of the gripper with one servo module
and one vacuum module as an example.
xx1500000826
A
CoG
Note: Dimensions of CoG in the brackets are without the fingers and suction
tools
B
Getting-started finger length
C
Travel length: 0-50 mm
Continues on next page
56
Product specification - IRB 14000
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2 Grippers
2.2.1 General
Continued
Airborne noise level
Description
Note
The sound pressure level outside
< 55 dB, measured at a location 0.5 m away
from the gripper.
Power consumption
The gripper is powered by 24 V DC and the maximum power consumption of the
whole gripper is 9 W.
Continues on next page
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2 Grippers
2.2.1 General
Continued
Dimensions
22
The following figure shows the dimension of the gripper with one servo module
and two vacuum modules. The dimensions of other gripper options can be obtained
by simply removing the dimension data of the suction cups and filters. For the
specific dimension of the camera used in the gripper with a vision module, see
Camera, dimensions on page 63.
(A)
83
127
41,5
69
37.5
18,5
136
52
(84)
xx1500000106
Pos
Description
A
Travel length = 0 - 50 mm
58
Product specification - IRB 14000
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2 Grippers
2.2.2 Servo module
2.2.2 Servo module
Travel length
Description
Data
Travel length
0-50 mm (max. 25 mm per finger)
Description
Data
Speed
25 mm/s
Repeatability
±0.05 mm
Maximum speed
Gripping force
Description
Data
Gripping direction
Inward or outward
Maximum gripping force
20 N (at the gripping point of 40 mm)
External force (not in gripping directions)
15 N (at the gripping point of 40 mm)
Force control accuracy
±3 N
Load diagram
The following figures show the relationship between the maximum allowed gripping
force and gripping point to the finger flange.
xx1500000792
Continues on next page
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2 Grippers
2.2.2 Servo module
Continued
xx1500000797
Pos
Description
F
Gripping force, in unit of N
L
Length from the gripping point to the finger flange, in unit of mm
The following figures show the relationship between the maximum allowed external
force and gripping point to the finger flange.
xx1500000798
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2.2.2 Servo module
Continued
xx1500000799
Pos
Description
F
External force, in unit of N
L
Length from the gripping point to the finger flange, in unit of mm
Position control and calibration
The servo module has integrated position control with the repeatability of ±0.05
mm. The servo module is calibrated by RAPID instructions or using the FlexPendant
interface. For details, see the sections IRB 14000 gripper FlexPendant application
and chapter RAPID references in Product manual - Gripper IRB 14000.
Product specification - IRB 14000
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2 Grippers
2.2.3 Vacuum module
2.2.3 Vacuum module
Vacuum generator
The vacuum module has an integrated vacuum generator that is designed with a
maximum payload of 150 g. The actual payload capacity depends on the following
factors:
•
Suction tool design and the choice of suction cups
•
The surface structure of the object being picked
•
The pickup point and the CoG of the object being picked
•
Robot motion while the object is picked
•
Air pressure input to the robot
Vacuum pressure sensor
The air pressure of the vacuum module can be monitored in real time using an
in-built vacuum sensor. This makes it possible to detect whether the object is
correctly picked up by the suction tool.
Blow-off actuator
To minimize cycle time and ensure accurate drop-off of the picked objects, a
blow-off actuator is integrated in the vacuum module.
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2 Grippers
2.2.4 Vision module
2.2.4 Vision module
General
The vision module includes a Cognex AE3 camera and provides powerful and
reliable vision and identification tools.
Camera, specification
Description
Data
Resolution
1.3 Megapixel
Lens
6.2mm f/5
Illumination
Integrated LED with programmable intensity
Software engine
Powered by Cognex In-Sight
Application programming software
ABB Integrated vision or Cognex In-Sight
Explorer
Camera, dimensions
The following figure shows the dimension of the Cognex AE3 camera.
xx1500001395
Pos
Description
A
Internal illumination
Continues on next page
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2 Grippers
2.2.4 Vision module
Continued
Pos
Description
B
Lens
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2 Grippers
2.2.5 Fingers
2.2.5 Fingers
Getting-started finger, dimensions
The following figure shows the dimension of the getting-started finger.
xx1500001606
Design requirements for customized fingers
Except for the two getting-started fingers delivered together with the IRB 14000
gripper, it is also possible for users to customize fingers based on actual
requirements. When designing fingers, the following requirements should be met:
•
To enhance the stiffness for gripping and extend lifetime of the fingers, it is
recommended metal be used as the finger materials.
•
The finger size must be designed properly to prevent any collision with the
gripper shell during the finger movement or gripping.
•
The length of the screws that are used for fastening the fingers to the finger
flange must be proper and less than the maximum hole depth on the flange.
For details about the maximum hole depth, see Hole configuration, finger
flange on page 72.
•
Installation direction and position of the fingers should follow those of the
getting-started fingers. For details, see Getting-started finger, dimensions
on page 65.
Product specification - IRB 14000
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2 Grippers
2.3.1 Operating requirements
2.3 Installation
2.3.1 Operating requirements
Protection standard
Option combination
Protection standard IEC529
All gripper combinations
IP30
Ambient temperature
Description
Standard/Option
Temperature
Gripper during operation
Standard
+ 5°C (41°F) to + 40°C (104°F)
Gripper during transporta- Standard
tion and storage
- 10°C (14°F) to + 55°C (131°F)
Air input
The nominal operating pressure is 6 bar. Considering the working pressure of air
tube in arm, in normal operation the gripper is
recommended to be supplied with 5-6 bar air input. Before the air input, ensure
that the input air is filtered and clean.
Relative humidity
Description
Relative humidity
Complete gripper during operation, transportation and Max. 85% at constant temperature
storage
66
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2 Grippers
2.3.2 Recommended standard tightening torque
2.3.2 Recommended standard tightening torque
Standard tightening torque
The table below specifies the recommended standard tightening torque for the
screws.
Screw type
Tightening torque (Nm) on metal Tightening torque (Nm) on plastic
M1.2
N/A
0.05
M1.6 (12.9 class
0.25
carbon steel screw)
N/A
M1.6 (stainless
steel screw)
N/A
0.05
M2
0.25
0.1
M2.5
0.45
0.45
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2 Grippers
2.3.3 Mounting the gripper
2.3.3 Mounting the gripper
Mounting flange
Three M2.5 holes and one guide pin are used to assemble the gripper to the arm
tool flange.
xx1500000126
Pos
Description
A
Recommended screws, three M2.5 x 8
B
Air hose
C
8-pin connector (spring-loaded)
D
Guide pin
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2 Grippers
2.3.3 Mounting the gripper
Continued
The pins of the connector (shown as C in the preceding figure) are defined as
follows.
xx1500000796
Pin
Description
A
EtherNet RD-
B
EtherNet TD-
C
EtherNet RD+
D
EtherNet TD+
E
PE
F
Spare
G
0V, IO
H
24V, IO
Continues on next page
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2 Grippers
2.3.3 Mounting the gripper
Continued
Hole configuration, mounting base
The following figure shows the hole configuration when assembling the gripper to
the arm tool flange.
xx1500000793
Pos
Description
B
Stroke = 1 mm
70
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2 Grippers
2.3.4 Mounting the fingers
2.3.4 Mounting the fingers
General
A pair of getting-started fingers are provided together with the gripper for demo
and test purposes. These fingers should be replaced with fingers designed for the
actual application by the system integrator and must be included in the final risk
assessment done by the system integrator.
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2 Grippers
2.3.4 Mounting the fingers
Continued
Hole configuration, finger flange
The following figures show the hole configuration and main dimensions of the
finger flanges.
xx1500000794
Pos
Description
A
Position of the maximum displacement
B
Maximum hole depth
72
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2 Grippers
2.3.5 Mounting tools to the vacuum module
2.3.5 Mounting tools to the vacuum module
General
The vacuum module is delivered with a first set of suction cups and filters for demo
and test purposes. Application-specific suction tools should be designed and
chosen by the system integrator. Air filters are required in the suction tools to
ensure the long-term performance of the vacuum module. If the vacuum function
is not required, passive assembly tools, such as press tools, can also be mounted
to the suction tool interface. Any tools mounted to the gripper must be included in
the final risk assessment by the system integrator.
Continues on next page
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2 Grippers
2.3.5 Mounting tools to the vacuum module
Continued
Hole configuration, vacuum tools
The following figure shows the hole configuration and tool interface of the vacuum
module.
xx1500000795
Pos
Description
A
Length from the center to the outer shell surface
B
Length from the center to the inner shell surface
C
Shell hole depth
74
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2 Grippers
2.4.1 Introduction
2.4 Maintenance and trouble shooting
2.4.1 Introduction
General
The gripper requires only a minimum of maintenance during operation. It has been
designed to make it as easy to service as possible.
Maintenance
The maintenance intervals depend on the use of the gripper, and the required
maintenance activities also depend on the selected options. For detailed about
the maintenance procedures, see the Maintenance section in the Product
manual - Gripper IRB 14000.
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3 Controller
3.1 Overview
3 Controller
3.1 Overview
Overview
The IRB 14000 integrated controller is based on the standard IRC5 controller, and
contains all functions needed to move and control the robot.
xx1400002127
Note
When replacing a unit in the controller, report the following data to ABB, for both
the replaced unit and the replacement unit:
•
the serial number
•
article number
•
revision
This is particularly important for the safety equipment to maintain the safety
integrity of the installation.
Continues on next page
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3.1 Overview
Continued
Controller interface, left side
The following illustration describes the interface on the left side panel of the
controller.
xx1400002129
XS12
Tool I/O, left and right arm
4x4 digital I/O signals to the tool flanges, to be cross connected with XS8 and/or
XS9. This is alternative to Ethernet on the tool flange.
XS17
DeviceNet Master/Slave
XS10
Fieldbus adapter
PROFIBUS Anybus device (fieldbus adapter option)
XS9
Safety signals
XS8
Digital inputs
8 digital input signals (approx. 5 mA) to the internal I/O board (DSQC 652)
Pin number 9 (24 V = max current 3A)
XS7
Digital outputs
8 digital output signals (150 mA/channel) from the internal I/O board (DSQC 652)
Pin number 9 (24 V = max current 3A)
XP23
Service
XP28
WAN (connection to factory WAN).
XP25
LAN2 (connection of Ethernet based options).
XP26
LAN3 (connection of Ethernet based options).
XP11
FA = Fieldbus adapter
PROFINET or EtherNet/IP (fieldbus adapter option)
XP24
USB port to main computer
Air L
Air supply, left arm
O.D. 4 mm air hose, 0.6 MPa air pressure
Air R
Air supply, right arm
O.D. 4 mm air hose, 0.6 MPa air pressure
Continues on next page
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3 Controller
3.1 Overview
Continued
Controller interface, right side
The following illustration describes the interface on the right side panel of the
controller.
xx1400002125
Q1
Power switch
XS4
FlexPendant
XP0
Power input
Main AC power connector, IEC 60320-1 C14, 100-240 VAC, 50-60 Hz
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3 Controller
3.2 Connecting power and the FlexPendant
3.2 Connecting power and the FlexPendant
Overview
The following illustration shows the connectors on the right side of the controller.
xx1500000503
Q1
Power switch
XS4
FlexPendant
XP0
Power input
Main AC power connector, IEC 60320-1 C14, 100-240 VAC, 50-60 Hz
Connecting power supply
Line fusing
Line fusing of the IRB 14000 is 5A at 100-240 V.
Rated power
Rated power of the IRB 14000 is 360 W.
Required equipment
Equipment
Note
Power supply cable (single phase)
External circuit breaker
8A
External earth fault protection at control cables 3 -15m 30mA
External earth fault protection at control cables >15m
300mA
Circuit diagram
See Circuit diagram - IRB 14000.
Continues on next page
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3.2 Connecting power and the FlexPendant
Continued
Connecting power to the controller
The following procedure describes how to connect the main power to the controller.
CAUTION
Always inspect the connector for dirt or damage before connecting it to the
controller. Clean or replace any damaged parts.
Note
This product may cause interference if used in residential areas. Such use must
be avoided unless the user takes special measures to reduce electromagnetic
emissions to prevent interference to the reception of radio and television
broadcasts.
Action
Information
1
Locate the main AC power connector on
the right side of the controller.
The power switch must be turned off.
2
Connect the power cable
Connecting a FlexPendant
The following procedure describes how to connect a FlexPendant to the controller.
CAUTION
Always inspect the connector for dirt or damage before connecting it to the
controller. Clean or replace any damaged parts.
Action
Information
1
Locate the FlexPendant socket connector The controller must be in manual mode.
on the right side of the controller.
2
Plug in the FlexPendant cable connector.
3
Screw the connector lock ring firmly by
turning it clockwise.
Product specification - IRB 14000
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3 Controller
3.3 Connecting a PC and Ethernet based options
3.3 Connecting a PC and Ethernet based options
Introduction
The following connectors on the interface on the left side panel of the controller
are directly connected to the Ethernet ports of the IRC5 main computer.
For more information about the functionality of each connector, see Connectors
on the computer unit on page 83.
xx1400002129
XP23
Service
XP28
WAN (connection to factory WAN).
XP25
LAN2 (connection of Ethernet based options).
XP26
LAN3 (connection of Ethernet based options).
XP24
USB port to main computer
Multiple Ethernet based options
For IRB 14000 it is possible to use both the options PROFINET Controller/Device
(888-2) and EtherNet/IP Scanner/Adapter (841-1) at the same time.
Continues on next page
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3.3.1 Connectors on the computer unit
3.3.1 Connectors on the computer unit
Overview of the computer unit
The following illustration shows an overview of the computer unit.
xx1300000608
X1
Power supply
X2 (yellow)
Service (connection of PC).
X3 (green)
LAN1 (connection of FlexPendant).
X4
LAN2 (connection of Ethernet based options).
X5
LAN3 (connection of Ethernet based options).
X6
WAN (connection to factory WAN).
X7 (blue)
Panel unit
X9 (red)
Axis computer
X10, X11
USB ports (4 ports)
Note
It is not supported to connect multiple ports of the main computer (X2 - X6) to
the same external switch, unless static VLAN isolation is applied on the external
switch.
Service port test middle
The service port is intended for service engineers and programmers connecting
directly to the controller with a PC.
Continues on next page
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3 Controller
3.3.1 Connectors on the computer unit
Continued
The service port is configured with a fixed IP-address, which is the same for all
controllers and cannot be changed, and has a DHCP server that automatically
assigns an IP-address to the connected PC.
Note
For more information about connecting a PC to the service port, see section
Working online in Operating manual - RobotStudio.
WAN port
The WAN port is a public network interface to the controller, typically connected
to the factory network with a public IP address provided by the network
administrator.
The WAN port can be configured with fixed IP-address, or DCHP, from the Boot
application on the FlexPendant. By default the IP-address is blank.
Some network services, like FTP and RobotStudio, are enabled by default. Other
services are enabled by the respective RobotWare application.
Note
The WAN port cannot use any of the following IP-addresses which are allocated
for other functions on the IRC5 controller:
•
192.168.125.0 - 255
•
192.168.126.0 - 255
•
192.168.127.0 - 255
•
192.168.128.0 - 255
•
192.168.129.0 - 255
•
192.168.130.0 - 255
The WAN port cannot be on a subnet which overlaps with any of the above
reserved IP-addresses. If a subnet mask in the class B range has to be used,
then a private address of class B must be used to avoid any overlapping. Please
contact your local network administrator regarding network overlapping.
See the section about topic Communication in Technical reference
manual - System parameters.
Note
For more information about connecting a PC to the WAN port, see section Working
online in Operating manual - RobotStudio.
LAN ports
The LAN 1 port is dedicated for connecting the FlexPendant.
Continues on next page
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3 Controller
3.3.1 Connectors on the computer unit
Continued
The LAN 2 and LAN 3 ports are intended for connecting network based process
equipment to the controller. For example field buses, cameras, and welding
equipment.
Note
When using IRB 14000 grippers, the following restrictions apply to the usage of
LAN2:
•
Any external units connected to LAN2 need to have IP addresses on the
same subnet as the grippers, network 192.168.125.0/24.
•
If option 841-1 EtherNet/IP Scanner/Adapter is used for external units
(EtherNet/IP scanners or adapters), these units must be connected to LAN2,
network 192.168.125.0/24. These units will share EtherNet/IP network with
the IRB 14000 grippers.
Note that option 840-1 EtherNet/IP Anybus Adapter can be used without
restrictions.
LAN 2 can only be used as private network to the IRC5 controller.
Isolated LAN 3 or LAN 3 as part of the private network (only for RobotWare 6.01 and later)
The default configuration is that LAN 3 is configured as an isolated network. This
allows LAN 3 to be connected to an external network, including other robot
controllers. The isolated LAN 3 network has the same address limitations as the
WAN network.
Robot Controller
Private
Service
LAN 1
LAN 2
Isolated
LAN 3
Public
LAN 3
WAN
xx1500000393
An alternative configuration is that LAN 3 is part of the private network. The ports
Service, LAN 1, LAN 2, and LAN 3 then belong to the same network and act just
as different ports on the same switch. This is configured by changing the system
parameter Interface, in topic Communication and type Static VLAN, from "LAN 3"
to "LAN". See Technical reference manual - System parameters.
Robot Controller
Public
Private
Service
LAN 1
LAN 2
LAN 3
WAN
xx1500000394
Continues on next page
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3 Controller
3.3.1 Connectors on the computer unit
Continued
Note
For more information and examples of connecting to different networks, see
Application manual - EtherNet/IP Scanner/Adapter or Application
manual - PROFINET Controller/Device.
USB ports
The USB ports are intended for connecting USB memory devices.
Note
It is recommended to use the USB ports USB 1 and USB 2 on the X10 connector
for connecting USB memory devices.
The USB ports on the X11 connector are intended for internal use.
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3 Controller
3.4 Connecting I/O signals
3.4 Connecting I/O signals
&XVWRPHULQWHUIDFH
;3
,2;
Introduction
digital I/O signals to the IRB
It is possible to connect
14000 through the connectors
on the interface on
the left side panel of the controller.
'2
'&9
'&9
:HUHVHUYHDOOULJKWVLQWKLVGRFXPHQWDQGLQWKHLQIRUPDWLRQFRQWDLQHGWKHUHLQ5HSURGXFWLRQXVHRU
GLVFORVXUHWRWKLUGSDUWLHVZLWKRXWH[SUHVVDXWKRULW\LVVWULFWO\IRUELGGHQ‹&RS\ULJKW$%%
;3
,2;
,2;
,2;
,2;
,2; xx1400002129
,2;
,2;
XS12
,2;
,2;
,2;
XS8
Digital outputs
8 digital
output signals from the internal
I/O board (DSQC 652)
9 (24 V = max current 3A)
Pin number
6DIHW\
XS7
9V\V/($
9V\V/($
9V\V/($
Tool I/O
9V\V/(,1
9V\V/(,1
;6
',
Tool I/O, left
and right arm
'&9 to the tool flanges,
4x4 digital
I/O signals
to be
cross connected with XS8 and/or
'&9
XS9. This
is alternative
to Ethernet on the tool flange.
Digital inputs
8 digital input signals to the internal
I/O board
;3
;6 (DSQC 652)
Pin number
9
(24
V
=
max
current
3A)
;3
9V\V/($
;6
,2;
,2;
,2;
,2;
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,2;
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;3
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WKHH[WHUQDOVDIHW\GHYLFHLVFRQQHFWHG
Tool I/O ;
is an alternative to Ethernet on the tool flange.
3LQ3LQLVQRWXVHGIRUH[WHUQDOGHYLFH
When
not using Ethernet
to the tool flanges it is possible to use the XS12 connector
for connecting
I/O
signals instead. digital
;3 ;6
&$7H
;3
;3
;3
;3
;3
;3
;3
;3
2*:+
2*
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*1
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2*:+
2*
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&3&6B/
&3&6B/
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&3&6B5
&3&6B5
)
7RRO,2/5
$OWHUQDWLYHWR(WKHUQHWWR7RRO
xx1500000012
/DWHVWUHYLVLRQ
For more information about connecting the tool I/O, see Circuit diagram - IRB
14000.
3UHSDUHGE\GDWH &14,/,
/DE2IILFH
$SSURYHGE\GDWH &1.(:$1
Continues on next page
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,5%
&XVWRP
3 Controller
3.4 Connecting I/O signals
Continued
Digital inputs and outputs
The connectors for digital inputs and outputs on the controller interface are
connected to the internal DeviceNet I/O unit in the controller.
xx1500000429
The signals are predefined in the system parameters in topic I/O System, with the
names custom_DI_x and custom_DO_x. The customer should change the names
to fit the current application.
For more information about configuring I/O, see Application manual - DeviceNet
Master/Slave and Technical reference manual - System parameters
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3 Controller
3.5 Connecting fieldbuses
3.5 Connecting fieldbuses
Introduction
The IRC5 Controller may be fitted with a number of different fieldbus adapters and
fieldbus master/slave boards.
The following connectors on the interface on the left side panel of the controller
are directly connected to the fieldbus connectors on the integrated IRC5 main
computer.
xx1400002129
XS17
DeviceNet
XS10
Fieldbus adapter
PROFIBUS (fieldbus adapter option)
XP11
Fieldbus adapter
PROFINET or EtherNet/IP (fieldbus adapter option)
Note
DeviceNet m/s (option 709-1) is provided at XS17 as default.
The DeviceNet fieldbus adapter (option 840-4) is not supported by IRB 14000.
Continues on next page
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3 Controller
3.5 Connecting fieldbuses
Continued
Expansion board for fieldbus adapters
An expansion board needs to be installed to be able to fit a fieldbus adapter. On
top of the main computer unit, there is one slot available for installing the expansion
board.
A
xx1300000605
A
Assembled expansion board for fieldbus adapters, without adapter.
Fieldbus adapters
The fieldbus adapters are inserted into the expansion board on top of the main
computer unit. There is one slot available for installing a fieldbus adapter.
A
xx1300000604
Continues on next page
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3.5 Connecting fieldbuses
Continued
A
Slot for AnybusCC fieldbus adapters
DeviceNet master/slave board
The DeviceNet m/s board is installed the right side of the main computer.
A
xx1300001968
A
Slot for DeviceNet m/s board
Termination resistors in the DeviceNet bus
Each end of the DeviceNet bus must be terminated with a 121 ohm resistor. The
two terminating resistors should be as far apart as possible.
The termination resistor is placed in the cable connector. There is no internal
termination on the DeviceNet PCI board. The termination resistor is connected
between CANL and CANH - that is, between pin 2 and pin 4 according to the
illustration below.
xx0400000674
References
For more information on how to install and configure the fieldbuses, see the
respective fieldbus application manual.
Product specification - IRB 14000
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3 Controller
3.6 Connecting safety signals
3.6 Connecting safety signals
Introduction
The IRB 14000 safety stop signals (SS) are accessed through the safety connector
on the interface on the left side panel of the controller. This is covered by a safety
bridge connector by default in standalone mode. If the bridge connector is removed,
it is external device mode.
xx1400002129
XS9
Safety signals
Standalone safety
IRB 14000 standalone is not connected to any external safety devices. The safety
connector on the foot interface is plugged with a safety bridge connector, that
closes both emergency stop channels of the FlexPendant.
The safety stop input on each drive monitors this channel, and triggers a safety
stop if the circuit is open or not powered.
IRC5 controller
DSQC462 Drive board_Right arm (1#)
-A51
DSQC462 Drive board_Left arm (2#)
-A52
XS/XP4
(+)
(-)
(+)
(-)
FlexPendant
3
4
0V
5
24V
6
XS/XP9
1
2
3
4
5
6
7
8
xx1500000013
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3.6 Connecting safety signals
Continued
Safety when connected to external devices
To connect to external safety devices, the safety bridge connector must be removed.
The system integrator shall then use a safety PLC or safety relay to feed and
monitor the dual channel emergency stop of the IRB 14000 FlexPendant.
Safety PLC
The safety PLC shall process the input from the IRB 14000 emergency stop, as
well as inputs from other safety devices in the cell, and set the necessary outputs
to stop machinery in the cell.
Dual channel safety performance can be maintained where such is required. IRB
14000 can be stopped from the safety PLC by routing back a single channel stop
signal to the safety connector XS9.
IRC5 controller
DSQC462 Drive board_Right arm (1#)
-A51
DSQC462 Drive board_Left arm (2#)
-A52
XS/XP4
(+)
(-)
(+)
(-)
FlexPendant
3
4
0V
5
24V
6
XS/XP9
1
ES1+
2
3
4
5
6
7
8
ES2+
SDO+
ES1ES2SDO-
Safety PLC
xx1500000014
For more information about connecting the safety signals, see Circuit diagram - IRB
14000.
Continues on next page
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3 Controller
3.6 Connecting safety signals
Continued
RT6 safety relay (option 1526-X)
Both the external protective stop and IRB 14000 internal emergency stop are
daisy-chained and connected directly to the RT6 safety relay (option 1526-X)
through the safety connector XS9. The safety relay also receives main power inputs
and then feeds the inputs to the robot power inlet. Contact ABB for further
information.
xx1600001076
For more information about connecting the safety signals, see Circuit diagram - IRB
14000.
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3 Controller
3.7.1 SD-card memory
3.7 Memory functions
3.7.1 SD-card memory
General
The controller is fitted with an SD-card memory containing ABB Boot Application
software. The SD-card memory is located inside the computer unit.
Note
Only use SD-card memory supplied by ABB.
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3 Controller
3.7.2 Connecting an USB memory
3.7.2 Connecting an USB memory
General
Handling of USB memory is described in Operating manual - IRC5 with FlexPendant.
Location on the controller
The location of the USB port on the controller is shown by the following illustration:
xx1400002129
XP24
USB 1 port to main computer
Location on the FlexPendant
The location of the USB port on the FlexPendant is shown by the following
illustration:
xx1500000701
96
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3 Controller
3.8 What is Cartesian speed supervision?
3.8 What is Cartesian speed supervision?
Definition of Cartesian speed supervision
The Cartesian speed supervision is a safety function that supervises the Cartesian
speed of the elbow (arm check point, ACP) and the wrist (wrist center point, WCP).
The default speed limit can be modified if needed, based on the risk assessment
for the robot installation. If any of the configured speed limits are exceeded, then
the robot motion is stopped and a message is displayed.
The Cartesian speed supervision is active in both manual and automatic mode.
The setting is defined by system parameters.
Product specification - IRB 14000
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4 Specification of variants and options
4.1 Introduction to variants and options
4 Specification of variants and options
4.1 Introduction to variants and options
General
The different variants and options for the IRB 14000 are described in the following
sections. The same option numbers are used here as in the specification form.
Related information
For the controller see Product specification - Controller IRC5.
For the software options see Product specification - Controller software IRC5.
Product specification - IRB 14000
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4 Specification of variants and options
4.2 Manipulator
4.2 Manipulator
Variants
Option
IRB Type
Handling capacity (kg) Reach (m)
435-131
IRB 14000
0.5
0.559
Warranty
Option
Type
Description
438-1
Standard warranty
Standard warranty is 12 months from Customer Delivery
Date or latest 18 months after Factory Shipment Date,
whichever occurs first. Warranty terms and conditions
apply.
438-8
Stock warranty
Maximum 6 months postponed start of standard warranty, starting from factory shipment date. Note that no
claims will be accepted for warranties that occurred before the end of stock warranty. Standard warranty commences automatically after 6 months from Factory
Shipment Date or from activation date of standard warranty in WebConfig.
Note
Special conditions are applicable, see Robotics Warranty
Directives.
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4 Specification of variants and options
4.3 Grippers
4.3 Grippers
Below are the gripper options.
First gripper
Option
Type
Description
1512-1
Servo
1513-1
Vacuum 1
Requires: Servo [1512-1]
1514-1
Vacuum 2
Requires: Servo [1512-1] and Vacuum 1 [1513-1], Not
together with: Vision [1515-1]
1515-1
Vision
Requires: Servo [1512-1], Integrated Vision support
[1520-1]
Option
Type
Description
1516-1
Servo
1517-1
Vacuum 1
Requires: Servo [1516-1]
1518-1
Vacuum 2
Requires: Servo [1516-1] and Vacuum 1 [1517-1], Not
together with: Vision [1519-1]
1519-1
Vision
Requires: Servo [1516-1], Integrated Vision support
[1520-1]
Second gripper
Grippers
Option
Type
Description
1512(6)-1
Servo
1512(6)-1 + 1513(7)-1
Vacuum 1
Servo + one vacuum unit
1512(6)-1+1513(7)-1+1514(8)1
Vacuum 2
Servo + two vacuum units
Continues on next page
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4 Specification of variants and options
4.3 Grippers
Continued
Option
Type
Description
1512(6)-1+1515(9)-1
Vision
Servo + integrated vision camera
1512(6)-1+1513(7)-1+1515(9)1
Vision
Servo + integrated vision
camera + one vacuum unit
102
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4 Specification of variants and options
4.4 Basic
4.4 Basic
Mains cable
Option
Type
Description
1525-1
EU mains cable, 2 m
IEC C14 cable assembly with locking system and
CEE7/VII line-side plug.
1525-2
UK mains cable, 2 m
IEC C14 cable assembly with locking system and
BS1363 line-side plug, 5A fused.
1525-3
US mains cable, 6 ft
IEC C14 cable assembly with locking system and
NEMA5-15 line-side plug.
1525-4
JP mains cable, 2 m
IEC C14 cable assembly with locking system and
JI8303 line-side plug.
1525-5
CN mains cable, 2 m
IEC C14 cable assembly with locking system and
CPCS-CCC line-side plug.
1525-6
AU mains cable, 2 m
IEC C14 cable assembly with locking system and
AS/NZS 3112 line-side plug.
Option
Type
Description
1526-1
RT6 relay, 230VAC
ABB RT6 safety relay for 230VAC.
1526-2
RT6 relay, 115VAC
ABB RT6 safety relay for 115VAC.
Safety relay
FlexPendant
Color graphic pendant with touch screen.
Option
Description
701-1
FlexPendant 10 m
xx1400002067
Continues on next page
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4 Specification of variants and options
4.4 Basic
Continued
Pos
Description
A
Display
B
Emergency stop button
C
Enabling control device (no function)
D
Joystick
Option
Description
702-1
Connector plug
The option consists of a jumper connector to close the safety chains. This is
mandatory if a FlexPendant is not connected.
Option
Description
970-1
RS232 Serial Channel
One RS232 serial channel for permanent use which can be used for communication point to point with printers, terminals, computers, and other equipment.
FlexPendant removal
RS232 serial port
The fieldbus adapter and the RS232 serial channel is located on the fieldbus adapter
expansion board. Therefore the option 970-1 is required when using a fieldbus
adapter, see Fieldbus adapters on page 104.
DeviceNet TM m/s
Option
Description
709-1
Single channel. Occupies 1 PCI slot.
Option
Description
969-1
PROFIBUS DP Master NOT TOGETHER WITH:PROFIBUS DP [840-2]
Option
Description
888-2
PROFINET IO m/s SW
Occupies one Ethernet port.
888-3
PROFINET IO slave SW
Occupies one Ethernet port.
Option
Description
840-1
EtherNet/IP TM
Up to 1024 digital inputs and 1024 digital outputs can be transferred serially to
a master equipped with an EtherNet/IP TM interface. The bus cable is connected
directly to the adapter RJ45 connector.
PROFIBUS DP
PROFINET IO
Fieldbus adapters
Continues on next page
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4 Specification of variants and options
4.4 Basic
Continued
Option
Description
840-2
PROFIBUS DP
Up to 512 digital inputs and 512 digital outputs can be transferred serially to a
master equipped with a PROFIBUS DP interface. The bus cable is connected to
the adapter D-sub connector.
840-3
PROFINET IO
Up to 1024 digital inputs and 1024 digital outputs can be transferred serially to
a master equipped with a PROFINET IO interface. The bus cable is connected
to the adapter RJ45 connector.
The fieldbus adapter and the RS232 serial channel is located on the fieldbus adapter
expansion board. Therefore the option 970-1 is required when using a fieldbus
adapter, see RS232 serial port on page 104.
A
xx1300000604
A
Slot for AnybusCC fieldbus adapters
Enc. interface unit-Exte
Option
Description
826-1
Encoder interface unit- Exte
REQUIRES: DeviceNet TM m/s [709-X] or DeviceNet TM Lean [748-1]
Option
Description
606-1
Conveyor Tracking
NOT TOGETHER WITH: Prep. for PickMaster 3 [642-1]
REQUIRES: Encoder interface unit [826-1]
Conveyor Tracking
Continues on next page
Product specification - IRB 14000
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4 Specification of variants and options
4.4 Basic
Continued
High resolution PoE camera
Integrated Vison interface
Option
Description
1521-1
(1-2) Choose quantity
Only for IRB 14000.
106
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4 Specification of variants and options
4.5 Unlisted options
4.5 Unlisted options
Included by default, not listed in the specification form
Option
Name
Option
Name
604-1
Multimove, coordinated
613-1
Collision detection
988-1
RW Add-In prepared
841-1
EtherNet/IP TM m/s
608-1
World Zones
611-1
Path Recovery
612-1
Path Offset
616-1
PC Interface
688-1
RobotStudion App Connect
617-1
FlexPendant Interface
1341-1
Vision Interface
213-1
Safety Lamp
1520-1
Integrated Vision SW
129-1
Prep. for CE labelling
429-1
UL/CSA
Not currently supported, not listed in the specification form
Option
Name
Option
Name
812-1
Production Manager
890-1
GPRS/Internet (Remote Service)
602-1
Advanced shape tuning
607-1
Sensor Sync
607-2
Analog Sync
610-1
Independent Axis
624-1
Cont. Appl. Platform
625-1
Discrete Appl. Platform
628-1
Sensor Interface
634-1
MultiProcess
641-1
Dispense
642-1
PickMaster 3
642-2
PickMaster 5
661-2
Force Control base
687-1
Advanced robot motion
702-2
Hot plug
813-1
Optical Tracking
840-4
DeviceNet IO (Fieldbus adapter)
897-1
RRI
900-1
WristMove
951-1
RW Cutting
976-1
T10 Jogging device
983-1
Enabling
1167-1
Machine Tending
Additional axes and drive module options
Product specification - IRB 14000
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5 Accessories
5 Accessories
Introduction to accessories
General
There is a range of tools and equipment available.
Basic software and software options for robot and PC
For more information, see Product specification - Controller IRC5 and Product
specification - Controller software IRC5.
Robot peripherals
•
Grippers
•
Signal lamp
•
Stationary camera
Note
Cognex In-Sight Micro 1402 is a stationary camera specific to IRB 14000.
See Product specification - Integrated Vision.
Product specification - IRB 14000
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Index
Index
C
Cartesian speed supervision, 17, 97
O
CAN, 16
EN, 16
EN IEC, 15
EN ISO, 15
standard warranty, 100
stock warranty, 100
options, 99
U
P
product standards, 15
USB port
FlexPendant, 96
S
V
safety standards, 15
standards, 15
ANSI, 16
variants, 99
W
warranty, 100
Product specification - IRB 14000
111
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© Copyright 2015-2017 ABB. All rights reserved.
3HAC052982-001, Rev F, en
ABB AB, Robotics
Robotics and Motion
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics
Robotics and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics and Motion
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
www.abb.com/robotics
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