ABB IRB 14000 Operating Manual
ABB IRB 14000 is a powerful industrial robot designed to streamline production processes. It boasts high precision and repeatability, ensuring accurate and consistent performance. With its versatile design, the IRB 14000 can be tailored to a wide range of applications, including welding, assembly, material handling, and more.
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ROBOTICS
Operating manual
IRB 14000
Trace back information:
Workspace R18-1 version a11
Checked in 2018-03-25
Skribenta version 5.2.025
Operating manual
IRB 14000
RobotWare 6.07
Document ID: 3HAC052986-001
Revision: E
© Copyright 2015-2018 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 2015-2018 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
Table of contents
Table of contents
Recover from emergency stops .................................................................
About the manual mode ...........................................................................
About the automatic mode ........................................................................
Safety signals in the manual ......................................................................
Protective stop and emergency stop ...........................................................
2 Introduction to the IRB 14000 robot system
Coordinated jogging ................................................................................
Connection Timeout Multiplier ...................................................................
Coll-Pred Safety Distance .........................................................................
Arm Check Point Speed Limit ....................................................................
5 Operating manual - IRB 14000
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Table of contents
Arm-Angle Reference Direction ..................................................................
Limit avoidance distance ..........................................................................
Collision Detection Memory .......................................................................
Friction compensation lead through factor ...................................................
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Operating manual - IRB 14000
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Overview of this manual
Overview of this manual
About this manual
This manual contains instructions for daily operation of the IRB 14000 robot system.
Usage
This manual should be used during operation.
Who should read this manual?
This manual is intended for:
• operators
• product technicians
• service technicians
• robot programmers
Prerequisites
The reader should:
• Be familiar with the concepts described in Operating manual - Getting started,
IRC5 and RobotStudio .
• Be trained in robot operation.
References
References
Product manual - Product.ProductName
Operating manual - Getting started, IRC5 and RobotStudio
Operating manual - RobotStudio
Operating manual - Troubleshooting IRC5
Document ID
Document.ID-1
3HAC027097-001
3HAC032104-001
3HAC020738-001
Technical reference manual - System parameters
Technical reference manual - RAPID overview
3HAC050948-001
3HAC050947-001
Technical reference manual - RAPID Instructions, Functions and Data types
3HAC050917-001
Technical reference manual - RAPID kernel
Application manual - Controller software IRC5
Application manual - MultiMove
3HAC050946-001
3HAC050798-001
3HAC050961-001
Revisions
-
Revision Description
Released with RobotWare 6.01.
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Continues on next page
7
Overview of this manual
Continued
D
E
Revision
A
B
C
Description
Released with RobotWare 6.03.
• Minor corrections
• Value in
Coll-Pred Safety Distance on page 60
changed from 0.001 to
0.01.
• The predefined signal Collision_Avoidance is added.
• Added information to section
Collision avoidance on page 39 .
• Added section
• Applicable ESD-standards added.
Released with RobotWare 6.04.
• The RAPID instruction ContactL has been moved from this manual.
It is now described in Technical reference manual - RAPID Instructions,
Functions and Data types .
• Value in
Arm Check Point Speed Limit on page 62
changed from 1.0
to 0.75.
• Added
Programming Move-instructions on page 42 .
• Added the system parameter
Limit avoidance distance on page 65 .
• Minor corrections.
Released with RobotWare 6.05.
• Added the new section
• Added the new parameter
Friction compensation lead through factor on page 67 .
• Updated the parameter
Collision Detection Memory on page 66 .
• Updated descriptions of stops in section
Protective stop and emergency stop on page 22
.
Released with RobotWare 6.06.
• Updated the section
Collision Detection Memory on page 66 .
Released with RobotWare 6.07.
• Updated the system parameter
Connection Timeout Multiplier on page 59
.
• Updated the Limitations section of the system parameter
• Safety section restructured.
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Product documentation
Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
All documents can be found via myABB Business Portal, www.myportal.abb.com
.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare parts).
• Calibration.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists of tools).
• Spare parts list with corresponding figures (or references to separate spare parts lists).
• Circuit diagrams (or references to circuit diagrams).
Technical reference manuals
The technical reference manuals describe reference information for robotics products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals . An application manual can describe one or several applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system parameters, software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.
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Product documentation
Continued
Operating manuals
The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters.
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1 Safety
1.1 About this chapter
1 Safety
1.1 About this chapter
Introduction to safety
This chapter describes safety principles and procedures to be used when a robot or robot system is operated.
It does not cover how to design for safety nor how to install safety related equipment. These topics are covered in the Product Manuals supplied with the robot.
Note
The integrator is responsible for the safety of the final application.
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1 Safety
1.2 Applicable safety standards
1.2 Applicable safety 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 robot system is designed in accordance with the requirements of :
Standard
EN ISO 12100
EN ISO 13849-1
Description
Safety of machinery - Basic concepts, general principles for design
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13850
EN ISO 10218-1
EN ISO 9787
EN ISO 9283 i
Safety of machinery - Emergency stop - Principles for design
Robots for industrial environments - Safety requirements - Part
1 Robot
Manipulating industrial robots, coordinate systems, and motion nomenclatures
Manipulating industrial robots, performance criteria, and related test methods
Classification of air cleanliness EN ISO 14644-1 ii
EN IEC 61000-6-4
EN IEC 61000-6-2
EN IEC 60204-1
EMC, Generic emission
EMC, Generic immunity
Safety of machinery - Electrical equipment of machines - Part
1 General requirements i ii
IEC 60529
IEC 61340-5-1:2010
Degrees of protection provided by enclosures (IP code)
Protection of electronic devices from electrostatic phenomena
- General requirements
See
Deviations from ISO 10218-1:2011 on page 12 .
Only robots with protection Clean Room.
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 which can be locked in each position.
The mode selector is implemented in software on FlexPendant.
Automatic and manual mode are usability features for IRB 14000, but not safety features. Locking the operating mode does not contribute to a necessary risk reduction.
i
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1 Safety
1.2 Applicable safety standards
Continued
Requirement Deviation for IRB
14000
Motivation i
§5.12.1 Limiting the range of motion by adjustable stops
(§5.12.2) or by safety functions (§5.12.3).
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
EN 614-1
EN 574
Description
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
Safety of machinery - Two-hand control devices - Functional aspects - Principles for design
Other standards
Standard
ANSI/RIA R15.06
ANSI/UL 1740
CAN/CSA Z 434-14
ANSI/ESD S20.20:2007
Description
Safety requirements for industrial robots and robot systems
Safety standard for robots and robotic equipment
Industrial robots and robot Systems - General safety requirements
Protection of Electrical and Electronic Parts, Assemblies and
Equipment (Excluding Electrically Initiated Explosive Devices)
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1 Safety
1.3.1 Stop the system
1.3 Safety actions
1.3.1 Stop the system
Overview
Press the emergency stop button if you need to stop the robot and its external equipment to protect equipment or personnel.
The FlexPendant emergency stop button xx1400001445
A Emergency stop button
Other emergency stop devices
The plant designer may have placed additional emergency stop devices in convenient places. Refer to your plant or cell documentation to find out where these are placed.
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1 Safety
1.3.2 Recover from emergency stops
1.3.2 Recover from emergency stops
Overview
Recovering from an emergency stop is a simple but important procedure. This procedure ensures that the manipulator system is not returned to production while maintaining a hazardous condition.
Reset the latch of emergency stop buttons
All push-button style emergency stop devices have a latching feature that must be released in order to remove the emergency stop condition of the device.
In many cases this is done by twisting the push-button as marked, but there are also devices where you pull the button to release the latch.
Reset automatic emergency stop devices
All automatic emergency stop devices also have some kind of latching feature that must be released. Please consult your plant or cell documentation to see how your manipulator system is configured.
Recover from emergency stops
1
2
3
Action
Make sure the hazardous situation that resulted in the emergency stop condition no longer exists.
Locate and reset the device or devices that gave the emergency stop condition.
Press the Motors On button on the Quickset menu on the FlexPendant to recover from the emergency stop condition.
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1 Safety
1.3.3 Extinguishing fires
1.3.3 Extinguishing fires
Precautions
In case of a fire always make sure both you and your co-workers are safe before performing any fire extinguishing activities. In case of injury always make sure these are treated first.
Select fire extinguisher
Always use carbon dioxide extinguishers when extinguishing fires in electrical equipment such as the robot or the controller. Do not use water or foam.
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1 Safety
1.4.1 For your own safety
1.4 Working in a safe manner
1.4.1 For your own safety
General principles
A few simple principles should be followed in order to operate the robot safely:
• Always operate the robot in manual mode if personnel are inside safeguarded space.
• Always bring the FlexPendant along when you enter safeguarded space so that robot control is in your hands.
• Watch out for rotating or moving tools such as milling cutters and saws. Make sure those are stopped before you approach the robot.
• Watch out for hot surfaces both on work pieces as well as on the robot. The robot motors and other parts can be hot.
• Watch out for grippers and objects gripped. If the gripper is opened the work piece could fall and cause injuries or damage equipment. The gripper can be very powerful and can also cause injuries if not operated in a safe manner.
• Watch out for hydraulic and pneumatic systems and live electric parts. Even with power off residual energy in such circuits can be very dangerous.
Disconnected FlexPendant
A disconnected FlexPendant should be stored in such a way that it cannot be mistaken for being connected to the controller.
Custom connections for FlexPendant
Any means of connecting the FlexPendant with other than the supplied cable and its standard connector must not render the emergency stop button inoperative.
Always test the emergency stop button to make sure it works if a custom connection cable is used.
Personal protective equipment
Always use suitable personal protective equipment, based on the risk assessment for the robot installation.
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1 Safety
1.4.2 About the manual mode
1.4.2 About the manual mode
What is the manual mode?
In manual mode the manipulator movement is under manual control.
The manual mode is used when creating and verifying programs, and when commissioning a manipulator system.
Active safeguard mechanisms
The safety stop mechanism and the Cartesian speed supervision are always active, both while operating in manual and automatic mode.
Operating speed
In manual reduced speed mode the movement is limited to 250 mm/s.
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1 Safety
1.4.3 About the automatic mode
1.4.3 About the automatic mode
What is the automatic mode?
The automatic mode is used for running the robot program in production.
Active safeguard mechanisms
The safety stop mechanism and the Cartesian speed supervision are always active, both while operating in manual and automatic mode.
Coping with process disturbances
Process disturbances may not only affect a specific manipulator cell but an entire chain of systems even if the problem originates in a specific cell.
Extra care must be taken during such a disturbance since that chain of events may create hazardous operations not seen when operating the single manipulator cell.
All remedial actions must be performed by personnel with good knowledge of the entire production line, not only the malfunctioning manipulator.
Process disturbance examples
A manipulator picking components from a conveyer might be taken out of production due to a mechanical malfunction, while the conveyer must remain running in order to continue production in the rest of the production line. This means, of course, that extra care must be taken by the personnel preparing the manipulator in close proximity to the running conveyor.
A welding manipulator needs maintenance. Taking the welding manipulator out of production also means that a work bench as well as a material handling manipulator must be taken out of production to avoid personnel hazards.
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1 Safety
1.5.1 Safety signals in the manual
1.5 Safety terminology
1.5.1 Safety signals in the manual
Introduction to safety signals
This section specifies all dangers that can arise when doing the work described in the user manuals. Each danger consists of:
• A caption specifying the danger level (DANGER, WARNING, or CAUTION) and the type of danger.
• A brief description of what will happen if the operator/service personnel do not eliminate the danger.
• Instruction about how to eliminate danger to simplify doing the work.
Danger levels
The table below defines the captions specifying the danger levels used throughout this manual.
Symbol xx0200000022 xx0100000002
Designation
DANGER
WARNING
ELECTRICAL
SHOCK
Significance
Warns that an accident will occur if the instructions are not followed, resulting in a serious or fatal injury and/or severe damage to the product. It applies to warnings that apply to danger with, for example, contact with high voltage electrical units, explosion or fire risk, risk of poisonous gases, risk of crushing, impact, fall from height, and so on.
Warns that an accident may occur if the instructions are not followed that can lead to serious injury, possibly fatal, and/or great damage to the product. It applies to warnings that apply to danger with, for example, contact with high voltage electrical units, explosion or fire risk, risk of poisonous gases, risk of crushing, impact, fall from height, etc.
Warns for electrical hazards which could result in severe personal injury or death.
xx0200000024 xx0100000003
CAUTION Warns that an accident may occur if the instructions are not followed that can result in injury and/or damage to the product. It also applies to warnings of risks that include burns, eye injury, skin injury, hearing damage, crushing or slipping, tripping, impact, fall from height, etc. Furthermore, it applies to warnings that include function requirements when fitting and removing equipment where there is a risk of damaging the product or causing a breakdown.
ELECTROSTATIC
DISCHARGE (ESD)
Warns for electrostatic hazards which could result in severe damage to the product.
xx0200000023
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Symbol Designation
NOTE
1 Safety
1.5.1 Safety signals in the manual
Continued
Significance
Describes important facts and conditions.
xx0100000004
TIP Describes where to find additional information or how to do an operation in an easier way.
xx0100000098
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1 Safety
1.5.2 Protective stop and emergency stop
1.5.2 Protective stop and emergency stop
Overview
The protective stops and emergency stops are described in the product manual for the robot.
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2 Introduction to the IRB 14000 robot system
2.1 What is IRB 14000?
2 Introduction to the IRB 14000 robot system
2.1 What is IRB 14000?
The IRB 14000 robot
The IRB 14000 robot is a two-armed industrial robot with integrated controller.
Each arm has seven axes, which gives an extra degree of freedom compared to traditional 6-axis robots.
The IRB 14000 integrated controller
The IRB 14000 integrated controller is based on the standard IRC5 controller, and contains all functions needed to move and control the robot.
The robot control software, RobotWare, supports every aspect of the robot system, such as motion control, development and execution of application programs, communication etc.
Illustration
C
A
B xx1500000008
A
B
C
Right arm
Left arm
Integrated controller
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2 Introduction to the IRB 14000 robot system
2.2 What is a FlexPendant?
2.2 What is a FlexPendant?
Introduction to the FlexPendant
The FlexPendant is a hand held operator unit used to perform many of the tasks involved when operating a robot system, such as running programs, jogging the manipulator, modifying robot programs and so on.
The FlexPendant consists of both hardware and software and is a complete computer in itself.
For more information on using the FlexPendant, see the section Navigating and handling FlexPendant in Operating manual - IRC5 with FlexPendant .
xx1500000702
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2 Introduction to the IRB 14000 robot system
2.3 What is RobotWare?
2.3 What is RobotWare?
Introduction to RobotWare
RobotWare is a family of software products from ABB Robotics. The products are designed to make you more productive and lower your cost of owning and operating a robot. ABB Robotics has invested many years into the development of these products and they represent knowledge and experience based on several thousands of robot installations.
Product classes
Within the RobotWare family, there are different classes of products:
Product classes
RobotWare-OS
RobotWare options
Process application options
RobotWare Add-ins
Description
This is the operating system of the robot. RobotWare-OS provides all the necessary features for fundamental robot programming and operation. It is an inherent part of the robot, but can be provided separately for upgrading purposes.
For a description of RobotWare-OS, see Product specification - Controller IRC5 .
These products are options that run on top of RobotWare-OS. They are intended for robot users that need additional functionality for motion control, communication, system engineering, or applications.
For more information on RobotWare options, see Product specification - Controller software IRC5 .
For more detailed information on RobotWare options, see Application manual - Controller software IRC5 . Note that not all RobotWare options are described in this manual. Some options are more comprehensive and are therefore described in separate manuals.
These are extensive packages for specific process application like spot welding, arc welding, and dispensing. They are primarily designed to improve the process result and to simplify installation and programming of the application.
The process application options are all described in separate manuals. For more information, see Product specification - Controller software IRC5 .
A RobotWare Add-in is a self-contained package that extends the functionality of the robot system.
Some software products from ABB Robotics are delivered as Addins. For example track motion IRBT, positioner IRBP, and stand alone controller.
The purpose of RobotWare Add-ins is also that a robot program developer outside of ABB can create options for the ABB robot systems, and sell the options to their customers. For more information on creating RobotWare Add-ins, contact your local ABB Robotics representative at www.abb.com/contacts .
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2 Introduction to the IRB 14000 robot system
2.4 What is RobotStudio?
2.4 What is RobotStudio?
Overview
RobotStudio is an engineering tool for the configuration and programming of ABB robots, both real robots on the shop floor and virtual robots in a PC. To achieve true offline programming, RobotStudio utilizes ABB VirtualRobot™ Technology.
RobotStudio has adopted the Microsoft Office Fluent User Interface. The Office
Fluent UI is also used in Microsoft Office. As in Office, the features of RobotStudio are designed in a workflow-oriented way.
With add-ins, RobotStudio can be extended and customized to suit the specific needs. Add-ins are developed using the RobotStudio SDK. With the SDK, it is also possible to develop custom SmartComponents which exceed the functionality provided by RobotStudio's base components.
For more information, see Operating manual - RobotStudio .
RobotStudio for real controllers
RobotStudio allows, for example, the following operations when connected to a real controller:
• Installing and modifying systems on RobotWare 6 controllers, using the
Installation Manager .
• Text-based programing and editing, using the RAPID Editor .
• File manager for the controller.
• Administrating the User Authorization System.
• Configuring system parameters.
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2 Introduction to the IRB 14000 robot system
2.5 What is RobotStudio Online?
2.5 What is RobotStudio Online?
Introduction to RobotStudio Online
RobotStudio Online is a suite of Windows Store applications intended to run on
Windows 10 tablets. It provides functionality for the shop floor commissioning of robot systems.
Note
Some of the functionality requires use of a safety device such as the T10 jogging device or the JSHD4 three position safety device. For more information on T10, see Operating manual - IRC5 with T10 .
You can run these apps on a tablet that communicates with the robot controller wirelessly. To enable certain functionality, such as entering manual mode and enabling power to the mechanical unit motors, you need a safety device that is connected to the robot using the same plug that alternatively is used to connect the FlexPendant.
The following RobotStudio Online apps are available in the Microsoft Windows
Store :
Note
You must have Windows 8.1
to run these Apps.
RobotStudio Online Apps Description
Manage is a tool to manage IRC5 controllers on a network.
xx1400002047
Calibrate is a tool for calibration and definition of frames with IRC5 controllers.
xx1400002049
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2 Introduction to the IRB 14000 robot system
2.5 What is RobotStudio Online?
Continued
RobotStudio Online Apps Description
Jog is a tool for manual positioning (moving or jogging) with IRC5 controllers.
xx1400002048
Tune is a tool for shop floor editing of RAPID programs with IRC5 controllers.
xx1400002050
Operate is a tool used in production to view the program code.
xx1400002511
YuMi is a tool for programming of the new dual arm and collaborative robot YuMi, IRB
14000, from ABB.
It will help the users to get a fast introduction to robot programming using lead-thru and graphical programming.
xx1500000832
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3 Using the IRB 14000
3.1 Axes and coordinate systems
3 Using the IRB 14000
3.1 Axes and coordinate systems
What is a coordinate system?
A coordinate system defines a plane or space by axes from a fixed point called the origin. Robot targets and positions are located by measurements along the axes of coordinate systems.
A robot uses several coordinate systems, each suitable for specific types of jogging or programming.
• The base coordinate system is located at the base of the robot. It is the easiest one for just moving the robot from one position to another.
• The work object coordinate system is related to the work piece and is often the best one for programming the robot.
• The tool coordinate system defines the position of the tool the robot uses when reaching the programmed targets.
• The world coordinate system that defines the robot cell, all other coordinate systems are related to the world coordinate system, either directly or indirectly. It is useful for jogging, general movements and for handling stations and cells with several robots or robots moved by external axes.
• The user coordinate system is useful for representing equipment that holds other coordinate systems, like work objects.
For more information on coordinate systems, see the Jogging section in Operating manual - IRC5 with FlexPendant .
Axes and joystick directions
The axes of the robot can be jogged manually using the joystick. The following illustration shows the location and movement patterns for each axis.
-
-
-
2
7
-
1
+ +
+
1
-
+
2
+
7
+
-
+
3
+
3 -
4
+
-
-
-
5 +
5
+
+
-
6
4 6
+
+
xx1500000254
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3 Using the IRB 14000
3.1 Axes and coordinate systems
Continued
Note
Note that axis 7 is located between axis 2 and axis 3.
The base coordinate system
The base coordinate system has its zero point in the base of the robot.
When you are standing in front of the robot and jog in the base coordinate system, pulling the joystick towards you will move the robot along the X axis, while moving the joystick to the sides will move the robot along the Y axis. Twisting the joystick will move the robot along the Z axis.
Z xx1500000007
X
Y
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3 Using the IRB 14000
3.2.1 What is jogging?
3.2 Jogging
3.2.1 What is jogging?
Introduction
To jog is to manually position or move robots or external axes. You can only jog in manual mode, but not during program execution. Jogging is disabled in automatic mode.
The selected motion mode and/or coordinate system determines the way the robot moves. For more information on how to jog robots, see the Jogging section in
Operating manual - IRC5 with FlexPendant .
Note
This manual only describes the settings that are specific for the IRB 14000.
The jogging window
The jogging functions are found in the Jogging window. The most commonly used are also available under the Quickset menu.
xx1500000006
Tip
Use the hard buttons on the FlexPendant to toggle between the different motion modes.
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3.2.1 What is jogging?
Continued
The Quickset menu
The Quickset menu provides a quicker way to change among other things jog properties rather than using the jogging window.
Each button on the menu shows the currently selected property value or setting.
xx1500000004
Note
Note that the operator panel is located under the Quickset menu. For more information on how to switch between manual and automatic mode, see
.
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3.2.2 Motion modes
3.2.2 Motion modes
Standard motion modes
A traditional robot, with four to six axes, has three different motion modes modes: axis-by-axis , linear , and reorientation mode.
• Axis-by-axis mode moves one robot axis at a time. The tool center point, and the orientation of the tool, is not monitored. Axis-by-axis mode is used to manually position the robot before switching over to linear mode.
• In linear motion mode , the tool center point moves along a straight line in space, in a “move from point A to point B” fashion. The tool center point is monitored and moves in the direction of the selected coordinate system’s axes. The orientation of the tool is fixed throughout the motion.
• In reorientation mode , the tool center point is fixed in space and the orientation of the tool is changed. The tool center point is rotated around the direction of the selected coordinate system’s axes.
The arm mode
The IRB 14000 robot, with seven axes, has one additional motion mode, the arm mode . All of the other jogging settings are the same as for other robots.
• In arm mode , both the tool center point and the orientation of the tool is fixed in space and only the angle of the arm is changed. The tool center point is neither rotated nor moved. See
Jogging in arm mode on page 33
.
For more information on robot configuration and how the arm angle is calculated, see the data type confdata in Technical reference manual - RAPID Instructions,
Functions and Data types .
Jogging in arm mode
In the pictures below, the robot is jogged in arm mode. Note that both the tool center point and the orientation of the tool are fixed in space and only the angle of the arm is changed.
This is useful when programming to avoid singularity, to find the most natural way the robot can reach a given target, and also how to be able to proceed to the next target.
1.
2.
3.
xx1500000009 xx1500000010
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3.2.3 Coordinated jogging
3.2.3 Coordinated jogging
Introduction
The IRB 14000 robot is pre-installed with the RobotWare option MultiMove coordinated, which makes it possible to jog the two arms in coordinated mode.
Coordinated jogging has to be setup by creating a coordinated work object. The work object should be setup for the arm that is holding the work piece. The other arm is holding the tool.
When the arm moving the work object is jogged, the other arm that is currently coordinated with the work object will move so that it maintains its relative position to the work object.
For more information about MultiMove and coordinated jogging, see Application manual - MultiMove .
Tip
Use the MultiMove wizard in RobotStudio when setting up and programming
MultiMove.
Setup coordinated jogging
Use this procedure to setup coordinated jogging.
1
2
Action
Create a work object for the arm that is to be coordinated. That work object will be held and moved by the other arm.
Description
Define the data of the work object.
Set hobhold and ufprog to FALSE , set ufmec to the other arm.
In this example the right arm is holding the work object and the left arm is coordinated to it:
PERS wobjdata wobjRight :=
[FALSE, FALSE, "ROB_R",
[[0,0,0],[1,0,0,0]],
[[0,0,0],[1,0,0,0]]];
3
4
Optional, define x, y, z values for the work object and define a tool for the other arm.
Activate coordinated jogging.
Activate coordinated jogging on page 34
Activate coordinated jogging
Use this procedure to activate coordinated jogging.
1
2
3
4
Action
Open the Quickset menu and select the arm that is to be coordinated.
Activate the previously created work object.
Description
Setup coordinated jogging on page 34
Select the work object coordinate system.
Select the other arm.
The coordinated arm is now indicated with a flashing frame.
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3.2.3 Coordinated jogging
Continued
5
Action
Jog the arm, the other will follow.
Description
Deactivate coordinated jogging
Turn off coordination in one of following ways:
• Click the Turn coordination off button on the Quickset menu.
• Deactivate the work object.
• Deactivate the work object coordinate system.
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3.3 Lead-through
3.3 Lead-through
What is lead-through?
Lead-through means that you can grab the robot arms and move them manually to the desired position, as an alternative to jogging.
Using lead-through
1
Action
In the jogging window, tap the button Enable Leadthrough .
Note/illustration
36
2 xx1500000006
Gently pull the robot arm to the desired position.
You will feel if an axis reaches its end position. Do not try to force the axis beyond this position.
Note
Lead-through is enabled per robot arm. To enable lead-through for both arms, enable one arm and then select the other arm and enable that too.
Note
If the robot is in motors off mode, it will automatically go to motors on when enabling lead-through.
Note
If lead-through is enabled, it will be temporarily disabled during program execution and jogging. This means that it is possible to combine lead-through, jogging and testing the RAPID program without having to disable lead-through.
Note
When using lead-through, it is important that the load is correctly defined. If the load is heavier than defined, the effect will be the same as if you are pulling the robot arm downwards. If the load is lighter than defined, the effect will be the same as if you are pulling the robot arm upwards.
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3.4 Operating modes
3.4 Operating modes
Introduction
The IRB 14000 has two operating modes, Manual mode and Automatic mode .
Note
Note that the IRB 14000 does not go to motors off when changing the operating mode.
Note
The IRB 14000 goes automatically to motors on when jogging or when tapping the play button or step button on the FlexPendant.
What is the manual mode?
In manual mode the manipulator movement is under manual control. The manual mode is used when programming and for program verification.
What is the automatic mode?
The automatic mode is the operating mode in which the robot control system operates in accordance with the task program, with functional safeguarding measures. This mode enables controlling the manipulator for example by using the I/O signals on the controller. An input signal may be used to start and stop a
RAPID program, another to activate the motors on the manipulator.
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3.4 Operating modes
Continued
The operator panel
The operator panel is used to switch between Manual mode and Automatic mode .
The operator panel is located under the Quickset menu, see
The Quickset menu on page 32 .
xx1500000005
Note
It is also possible to use the predefined I/O-signals to change and confirm the operating mode, see
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3.5 Collision avoidance
3.5 Collision avoidance
Introduction
The IRB 14000 has a built in functionality called Collision Avoidance that is active both during jogging and when running programs. Collision avoidance monitors the geometrical models of the robot arms and the body, and the robot stops if any of the parts get too close to each other.
Collision Avoidance is no guarantee for avoiding collisions. It monitors the geometrical models of the robot arms and the body, but does not know the position of external equipment near to the robot.
CAUTION
The user must always be careful to avoid collisions with external equipment, since a collision could damage the mechanical structure of the arm.
System parameters
The default safety distance can be set by the system parameter Coll-Pred Safety
Distance .
For more information, see the system parameter
Coll-Pred Safety Distance on page 60 .
False collision warning
If the robot arms move close to each other or close to the base, and the collision avoidance is too sensitive, a warning for collision may occur even if no collision will happen.
There are three different ways to lower the collision sensitivity to avoid warnings:
• Temporarily disable collision avoidance. See
Disabling collision avoidance on page 39 .
• Decrease the safety distance for the pair of robot arm links that trigger the false collision warning. See
Decrease sensitivity between links on page 40 .
• Decrease the general safety distance. See
Coll-Pred Safety Distance on page 60
.
Disabling collision avoidance
It is possible to disable the collision avoidance functionality. It may be necessary to temporarily disable collision avoidance if the robot has already collided or is within the default safety distance, or when the robot arms need to be very close and the risk of collision is acceptable.
Set the digital output signal Collision_Avoidance to 0 to disable collision detection. It is recommended to enable it (set Collision_Avoidance to 1) as soon as the work is done that required collision avoidance to be disabled.
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3.5 Collision avoidance
Continued
Decrease sensitivity between links
The sensitivity of collision avoidance can be decreased between individual robot arm links. This is useful if two links come close to each other, but the general safety distance should be maintained.
Open the file irb_14000_common_config.xml
located in the folder
<SystemName>\PRODUCT\ROBOTWARE_6.XX.XXXX\robots\irb_14000 .
To decrease the safety distance between the left arm's link 3 and the right arm's link 4 to 1 mm, add the following row:
<Pair object1="ROB_L_Link3" object2="ROB_R_Link4" safetyDistance="0.001"/>
To decrease the safety distance between the left arm's link 5 and the robot base to 2 mm, add the following row:
<Pair object1="ROB_L_Link5" object2="Base" safetyDistance="0.002"/>
To disable collision avoidance between the left arm's link 2 and the right arm's link
3, add the following row:
<Pair object1="ROB_L_Link2" object2="ROB_R_Link3" exclude="true"/>
Note
The safety distance between two links can be decreased by adding a row to this
XML file, but it cannot be increased to a higher value than defined by the system parameter Coll-Pred Safety Distance .
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3.6 Collision
3.6 Collision
Overview
This section provides you an overview of the response of IRB 14000 robot system in the case of a collision.
Collision
If a collision is detected on an arm, the collided arm stops and the other arm keeps moving. But for a synchronized movement ( SyncMoveOn ), both arms stop in the case of a collision.
For more information about motion error handling see Technical reference manual - RAPID kernel .
Note
In RobotWare versions prior to 6.05 both arms stop in the case of a collision.
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3.7 Programming and testing
3.7 Programming and testing
Programming tools
You can use both the FlexPendant and RobotStudio for programming. The
FlexPendant is best suited for modifying programs, such as positions and paths, while RobotStudio is preferred for more complex programming.
How to program using the FlexPendant is described in Operating manual - IRC5 with FlexPendant .
How to program using RobotStudio is described in Operating manual - RobotStudio .
Programming language
For more information about the RAPID language and structure, see Technical reference manual - RAPID overview and Technical reference manual - RAPID
Instructions, Functions and Data types .
Programming Move-instructions
When programming a jointtarget for a 7-axis robot, the value of axis 7 (in degrees) is stored as the first external axis value in the jointtarget data.
Example:
! The value 135 is the angle of axis 7 in degrees:
CONST jointtarget myjointtarget := [[0,-130,30,0,40,0],
[135,9E+09,9E+09,9E+09,9E+09,9E+09]];
MoveAbsJ myjointtarget \NoEOffs, v1000, fine, tool0;
When programming a robtarget for a 7-axis robot, the arm-angle is stored as the first external axis value in the robtarget data.
Example:
! The value 107.816 is the calculated arm-angle:
CONST robtarget myrobtarget :=
[[-9,182,198],[0.0660087,0.84242,-0.111216,0.52307],[0,0,0,11],
[107.816,9E+09,9E+09,9E+09,9E+09,9E+09]];
MoveL myrobtarget \NoEOffs, v1000, fine, tool0;
The arm-angle can, in a simplified way, be described as the angle of the arm seen from an axis that goes from the centre of axis 2 to the centre of the WCP (wrist
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3.7 Programming and testing
Continued center point). This value cannot be measured or calculated by the user since the underlying mathematical calculations are far more complex.
xx1600001072
Note
If necessary the arm-angle will be adjusted automatically during run time in order to avoid singularities and joint limits. The desired distance can be adjusted with the system parameter Limit avoidance distance , see
Limit avoidance distance on page 65
.
Coordinated programming using MultiMove
The IRB 14000 robot is pre-installed with the RobotWare option MultiMove coordinated, which makes it possible to program the two arms in coordinated mode.
For more information about MultiMove and coordinated jogging, see Application manual - MultiMove .
Tip
Use the MultiMove wizard in RobotStudio when setting up and programming
MultiMove.
Configuration data
When programming linear movements it is important that the programmed positions have similar configurations, otherwise it will not be possible to move linearly between the positions.
This is important when programming all robots, but especially when programming
7-axis robots, since the arm mode adds more complexity.
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3.7 Programming and testing
Continued
The data type confdata is used to define the configurations.
For more information about the data type confdata
, see Technical reference manual - RAPID Instructions, Functions and Data types .
Contact applications
The RAPID instruction ContactL is designed to be used for contact applications, when the tool held by the robot has to press an object into place.
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
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3.8 I/O signals
3.8 I/O signals
Introduction
It is possible to connect different types of I/O signals to the IRB 14000, both digital
I/O signals and different types of fieldbuses (industrial networks).
For more information about connecting I/O signals, see Product manual - Product.ProductName
and Circuit diagram - IRB 14000 .
Predefined signals
Operating mode signals
The following output signals are predefined in the system and can be used to change and confirm the operating mode.
Name
VP_ENABLE
VP_MODEKEY
VP_MOTOPB
Type output output output
Description
Enable signal for manual mode.
Operating mode selector.
Motors On push button.
Collision avoidance signal
Name Type
Collision_Avoidance output
Description
Default is 1, meaning that collision avoidance is enabled.
Setting this signal to 0 will disable collision avoidance. This is usable for tasks where you need the arms to be very close and the risk of collision is acceptable.
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3.9 User authorization
3.9 User authorization
Introduction
The data, functionality, and commands on a controller are protected by a User
Authorization system (also called UAS). The UAS restricts the parts of the system the user has access to. Different users can have different access grants.
It is recommended to create different user groups for different types of users. For example Operator , Engineer , and Service . Operators should have very limited access to the system.
Note
Only users that are authorized to to modify safety functions should have access to the grants Restore a backup and Modify configuration .
For more information about configuring the User Authorization system and the different controller grants, see Operating manual - RobotStudio .
Changing safety related system parameters
When changing the safety related system parameters Arm Check Point Speed
Limit or Global Speed Limit an event message will take focus on the FlexPendant after restart to notify the user of the change.
For more information about the system parameters, see
System parameters on page 57 .
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4 Calibration
4.1 Introduction
4 Calibration
4.1 Introduction
General
This chapter includes information about when the robot system must be recalibrated.
There are two types of calibration, to update the revolution counters or to do a fine calibration.
When to update the revolution counters
If the revolution counter memory is lost, the counters must be updated. This will occur when:
• The battery is discharged
• A resolver error occurs
• The signal between a resolver and measurement board is interrupted
• A robot axis is moved with the control system disconnected
The revolution counters must also be updated after the robot and controller are connected at the first installation.
To update the revolution counters is a simple procedure which can be performed by the operator, see
Updating revolution counters on page 50
.
When to do a fine calibration
The system must be fine calibrated when parts affecting the calibration position are replaced on the robot, for example motors or parts of the transmission.
A fine calibration should only be performed by a qualified service engineer. For more information see section Calibration in Product manual - Product.ProductName
.
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4 Calibration
4.2 Calibration scale and correct axis position
4.2 Calibration scale and correct axis position
Introduction
This section specifies the calibration scale positions and/or correct axis positions.
Calibration scales/marks
This illustration shows the positions of the calibration scales and marks on the robot.
The number aside of the enlargement corresponds to the axis number.
xx1500000526
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4 Calibration
4.2 Calibration scale and correct axis position
Continued
Calibration position
Illustration of robot in calibration position
The figure shows the robot in its calibration position.
xx1500000363
Exact axis positions in degrees
The table below specifies the exact axis positions in degrees.
5
6
7
2
3
4
Axis
1
IRB 14000 ROB_R
0°
-130°
30°
0°
40°
0°
-135°
IRB 14000 ROB_L
0°
-130°
30°
0°
40°
0°
135°
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4 Calibration
4.3 Updating revolution counters
4.3 Updating revolution counters
Introduction
This section describes how to do a rough calibration of each robot axis, which updates the revolution counter value for each axis using the FlexPendant.
The procedure can be summarized accordingly:
1 Manually move the manipulator to the calibration position.
2 Select the Calibration with hall sensors (CalHall) routine.
3 Select the function Update of revolution counters.
4 Store the revolution counter setting.
Each step is described in detail in following sections.
Step 1 - Manually moving the manipulator to the calibration position
Action Note
1
CAUTION
When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways!
2 Release the brakes of the robot arm to be calibrated and move the arm manually so that the synchronization mark of each joint is aligned.
The robot now stands in its calibration position.
The synchronization marks are shown in
Calibration scale and correct axis position on page 48
.
There is a tolerance for the joint position. The edge of a mark should be at least within the area of the opposite mark.
Step 2 - Selecting the Calibration with hall sensors (CalHall) routine
6
7
4
5
1
2
3
Action
Open the Program Editor on the FlexPendant.
Select the task that corresponds to the robot arm to be calibrated. Tap Open .
If necessary, create a new program. This needs to be done if no existing program is available.
Select Debug and tap PP to Main .
Select Debug and tap Call Routine...
Select CalHall .
Go to Motor On and press the Start button .
Note
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4 Calibration
4.3 Updating revolution counters
Continued
Step 3 - Selecting the function Update of revolution counters
1
Action
In the calibration with hall sensors routine (CalHall), tap 2 to select the function of updating the revolution counters.
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4 Calibration
4.3 Updating revolution counters
Continued
2
Action
Tap to select which joint(s) to update revolution counters for.
Joints 1, 2, 3 and 4 are selectable in the first window. Tap Next to open the second window where joints 5, 6 and 7 are selectable.
xx1400002695 xx1400002696
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4 Calibration
4.3 Updating revolution counters
Continued
Step 4 - Storing the revolution counter setting
1
Action
Tap OK to start the sampling procedure of the hall sensor.
One at a time, each selected joint now rotates back and forth several times to calculate and find the exact position where the hall sensor is aligned with the magnet.
Calibration order: axis 1-2-3-4-5-6-7.
Note
This procedure may take several minutes.
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4 Calibration
4.3 Updating revolution counters
Continued
2
Action
When the sampling of hall sensors is finished, tap OK to confirm.
xx1400002898
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4 Calibration
4.3 Updating revolution counters
Continued
Action
If the hall sensor can not be found, following error message is displayed.
xx1400002698
There can be several causes for this error.
• The joints are not sufficiently aligned according to the synchronization marks. Move the joints so that the synchronization marks are aligned. Tap
OK and restart the fine calibration procedure. The joints prior to the joint that stopped the calibration procedure are calibrated and do not need to be calibrated again. Joints coming after the joint that stopped the calibration procedure has not been calibrated. (Calibration order: axis 1-2-3-4-5-6-7.)
• The hall sensor is defect. Perform troubleshooting of I/O signals. Possible replacement of hall sensor may be required.
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4 Calibration
4.4 Verifying the calibration position
4.4 Verifying the calibration position
Introduction
Verify the calibration position of the robot before beginning any programming of the robot system. This may be done:
• Using a MoveAbsJ instruction with argument according to calibration position degrees on all axes.
• Using the Jogging window on the FlexPendant.
Using a
MoveAbsJ instruction
Use this procedure to create a program that runs all the robot axes to their calibration position.
1
2
3
4
Action
On ABB menu tap Program editor .
Create a new program.
Use MoveAbsJ in the Motion&Proc menu.
Create the following program for the right arm:
MoveAbsJ [[0,-130,30,0,40,0], [-
135,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0;
Create the following program for the left arm:
MoveAbsJ [[0,-130,30,0,40,0],
[135,9E9,9E9,9E9,9E9,9E9]]
\NoEOffs, v1000, fine, tool0;
Note
5
6
Run the program in manual mode.
Verify that the calibration marks for the axes align correctly. If they do not, then update the revolution counters.
See
Calibration scale and correct axis position on page 48
and
Updating revolution counters on page 50 .
Using the jogging window
Use this procedure to jog the robot to the calibration position for all axes.
1
2
3
4
5
Action
On the ABB menu, tap Jogging .
Note
Tap Motion mode to select group of axes to jog.
Tap to select the axis to jog, axis 1, 2, or
3.
Manually run the robots axes to a position where the axis position value read on the
FlexPendant, is equal to the calibration position degrees.
Degrees are specified in
Exact axis positions in degrees on page 49 .
Verify that the calibration marks for the axes align correctly. If they do not, then update the revolution counters!
See
Calibration scale and correct axis position on page 48
and
Updating revolution counters on page 50
.
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5 System parameters
5.1 Introduction
5 System parameters
5.1 Introduction
About the system parameters
This section describes the IRB 14000 specific system parameters. The parameters are divided into the topic and type they belong to.
For information about other system parameters, see Technical reference manual - System parameters .
Topic I/O System
Parameter
Collision Avoidance
Connection Timeout Multiplier
For more information, see
Collision Avoidance on page 58
Connection Timeout Multiplier on page 59
Topic Motion
Parameter
Coll-Pred Safety Distance
Global Speed Limit
Arm Check Point Speed Limit
Arm-Angle Definition
Arm-Angle Reference Direction
Limit avoidance distance
Collision Detection Memory
Friction compensation lead through factor
For more information, see
Coll-Pred Safety Distance on page 60
Arm Check Point Speed Limit on page 62
Arm-Angle Definition on page 63
Arm-Angle Reference Direction on page 64
Limit avoidance distance on page 65
Collision Detection Memory on page 66
Friction compensation lead through factor on page 67
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5 System parameters
5.2.1 Collision Avoidance
5.2 Topic I/O System
5.2.1 Collision Avoidance
Parent
Collision Avoidance is an action value for the parameter Action that belongs to the type System Input in the topic I/O System .
Cfg name
CollAvoidance
Description
This parameter is currently applicable only to IRB 14000 (YuMi robot).
The action value Collision Avoidance is used to activate the Collision Avoidance functionality. By default this functionality is off in robots.
Collision Avoidance monitors a detailed geometric model of the robot. If two bodies of the model come too close to each other, the controller warns about a predicted collision and stops the robot. The system parameter Coll-Pred Safety Distance determines at what distance the two objects are considered to be in collision, see
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5 System parameters
5.2.2 Connection Timeout Multiplier
EtherNet/IP Scanner/Adapter
5.2.2 Connection Timeout Multiplier
Parent
Connection Timeout Multiplier belongs to the type Device , in the topic I/O System .
Cfg name
ConnectionTimeoutMultiplier
Description
Connection Timeout Multiplier specifies the multiplier applied to the expected packet rate value to derive the value for the Inactivity/Watchdog Timer.
Usage
The Connection Timeout Multiplier is a number among 4, 8, 16, 32, 64, 128, 256.
It is used together with RPI to calculate the timeout on connections.
RPI multiplied by Connection Timeout Multiplier gives the maximum time before dropping the connection.
Note
For the IRB 14000 robot (YuMi) this parameter may have to be tuned depending on your network setup.
Prerequisites
The option EtherNet/IP Scanner/Adapter must be installed.
Allowed values
Allowed values are 4, 8, 16, 32, 64, 128, 256, 512.
Default value is 4.
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5 System parameters
5.3.1 Coll-Pred Safety Distance
5.3 Topic Motion
5.3.1 Coll-Pred Safety Distance
Parent
Coll-Pred Safety Distance belongs to the type Motion System , in the topic Motion .
Cfg name coll_pred_default_safety_distance
Description
The parameter Coll-Pred Safety Distance determines at what distance two geometric objects (for example robot-links) are considered to be in collision.
Allowed values
A value between 0.001 to 1 meter.
Default value is 0.01 meter.
Related information
Collision Avoidance on page 58
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© Copyright 2015-2018 ABB. All rights reserved.
Operating manual - IRB 14000
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5 System parameters
5.3.2 Global Speed Limit
5.3.2 Global Speed Limit
Parent
Global Speed Limit belongs to the type Robot , in the topic Motion .
Cfg name
Global_max_speed_limit_custom
Description
Global Speed Limit sets the speed limit in meters per second for the tool center point (TCP), the arm check point (ACP), and the wrist center point (WCP).
Note
This parameter is used to configure the safety function Cartesian speed supervision.
Note
When changing this safety related system parameter, an event message will take focus on the FlexPendant after restart to notify the user of the change. The user then has to verify that the intended setting was made.
Limitations
Global Speed Limit is only used for the following robots:
• IRB 14000
Setting this parameter for any other robot will not have any effect.
Global Speed Limit can only be used to lower the speed limit from maximum speed limit for each robot type. If a higher value is set, the maximum value for the robot type is used.
The maximum value for the robot types are:
Robot type
IRB 14000
Maximum value
1.5 m/s
Allowed values
A number between 0.1 and 20.
The default value is 20.
Operating manual - IRB 14000
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5 System parameters
5.3.3 Arm Check Point Speed Limit
5.3.3 Arm Check Point Speed Limit
Parent
Arm Check Point Speed Limit belongs to the type Robot , in the topic Motion .
Cfg name
Global_max_speed_limit_acp_custom
Description
Arm Check Point Speed Limit sets the speed limit in meter per second for the arm check point (ACP).
Note
This parameter is used to configure the safety function Cartesian speed supervision.
Note
When changing this safety related system parameter, an event message will take focus on the FlexPendant after restart to notify the user of the change. The user then has to verify that the intended setting was made.
Limitations
Arm Check Point Speed Limit is only used for the following robots:
• IRB 14000
Setting this parameter for any other robot will not have any effect.
Arm Check Point Speed Limit can only be used to lower the speed limit from a maximum speed limit for each robot type. If a higher value is set, the maximum value for the robot type is used.
The maximum value for the robot types are:
Robot type
IRB 14000
Maximum value
0.75 m/s
Allowed values
A number between 0.1 and 20.
The default value is 0.75.
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© Copyright 2015-2018 ABB. All rights reserved.
Operating manual - IRB 14000
3HAC052986-001 Revision: E
5 System parameters
5.3.4 Arm-Angle Definition
5.3.4 Arm-Angle Definition
Parent
Arm-Angle Definition belongs to the type Robot , in the topic Motion .
Cfg name use_old_arm_angle_definition
Description
To completely specify the pose for a robot with 7 axes, an additional parameter called arm-angle is needed.
The parameter Arm-Angle Definition controls how the arm-angle is defined.
Users are advised to always use the new arm-angle definition. The old definition is kept only for backwards compatibility and can in some cases lead to non-optimal movements of the robot.
Limitations
Arm-Angle Definition is only applicable for 7-axis robots.
Note
Arm-Angle Definition parameter is not supported in RW 6.07 or later versions.
Allowed values
New or Old.
The default value is New.
Related information
Operating manual - IRB 14000
Operating manual - IRB 14000
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5 System parameters
5.3.5 Arm-Angle Reference Direction
5.3.5 Arm-Angle Reference Direction
Parent
Arm-Angle Reference Direction belongs to the type Robot , in the topic Motion .
Cfg name arm_angle_ref_dir
Description
Arm-Angle Reference Direction controls how the arm-angle property is calculated and affects the location of certain singularities for seven-axis robots.
Usage
In addition to position and orientation, seven-axis robots also depend on the arm-angle concept to fully specify a robtarget .
The calculation of the arm-angle depends on a chosen reference direction, and by default this reference direction is chosen as the line passing through axis 2 origin of the robot and being parallel with the Y-axis of the world frame. When the WCP is on the axis chosen as the reference direction, the arm-angle becomes undefined.
Hence, the inverse kinematics is singular for all positions with the WCP on the line, and linear movement on and across this line will not work.
If linear movement in this area of the workspace is important for your application, then you can configure the robot to use another reference direction. The choices available are: the world Y-axis, the world Z-axis, and the line passing through axis
1 of the robot.
Note
A RAPID program created with one value for this parameter will behave differently or maybe not work at all if the parameter value is changed.
Allowed values
Arm-Angle Reference Direction can have the following values:
1
2
Value:
0
Name:
World Y
World Z
Axis 1
Description:
Reference direction parallel with the Y-axis of the world frame.
Reference direction parallel with the Z-axis of the world frame.
Reference direction parallel with a line passing through axis 1 of the robot.
The default value is 0.
Related information
Operating manual - IRB 14000
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© Copyright 2015-2018 ABB. All rights reserved.
Operating manual - IRB 14000
3HAC052986-001 Revision: E
5 System parameters
5.3.6 Limit avoidance distance
5.3.6 Limit avoidance distance
Parent
Limit avoidance distance belongs to the type Robot , in the topic Motion .
Cfg name limit_avoidance_distance
Description
Limit avoidance distance controls the distance to the nearest singularity or joint limit when automatically adjusting the arm-angle.
Usage
The singularities that can be handled are where axis 2 or axis 5 is equal to zero.
Allowed values
A value between -1 to 100 radians.
The default value is 0.017453 radians.
Setting a negative value will disable the functionality.
Related information
Operating manual - IRB 14000
Operating manual - IRB 14000
3HAC052986-001 Revision: E
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5 System parameters
5.3.7 Collision Detection Memory
5.3.7 Collision Detection Memory
Parent
Collision Detection Memory belongs to the type Motion Supervision , in the topic
Motion .
Cfg name collision_detection_memory
Description
Collision Detection Memory defines how much the robot moves back on the path after a collision.
The parameter requires a restart of the controller when modified.
Usage
The movement of robot back on the path after a collision is specified in seconds.
If the robot was moving quickly before the collision, it will move further back than if the speed was lower. For detailed information, see the Application manual - Controller software IRC5 .
Allowed values
A value in the interval 0 to 0.5, specifying the movement in seconds.
For the IRB 14000 robot the default value is 0 s and hence the robot does not back off.
Setting the value to 0 s (disabling backing after collision) may leave the robot in a state with residual forces remaining after a collision. This could trigger new collisions when trying to move away from that position. To move away robustly after a collision, the following are some of the recommended solutions:
• Enable lead-through for a short period of time to release the tension.
• Set the value of MotionSup\ to Off before executing the move instructions.
• Use
ContactL instead of
MoveL
.
Related information
Refer the section "How to tune the motion supervision" in the manual Technical reference manual - System parameters .
Application manual - Controller software IRC5 .
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5 System parameters
5.3.8 Friction compensation lead through factor
RobotWare - OS
5.3.8 Friction compensation lead through factor
Parent
Friction compensation lead through factor belongs to the type Robot , in the topic
Motion .
Cfg name friction_comp_lead_through_factor
Description
Friction compensation lead through factor determines how soft a robot should be in lead through mode.
Usage
A higher value makes the robot softer in lead through mode and a lower value makes the robot less soft.
Setting a high value can make the robot sensitive to errors such as wrong payload in the tool definition. The robot can then start to drift by itself.
Setting the value to 0 removes all friction compensation in lead through mode.
Note
This parameter does not need a reboot to apply the changes. Hence the tests of different levels can be done directly after changing the parameter value.
Limitations
Friction compensation lead through factor is only used for the following robots:
• IRB 14000
Configuring this parameter in any other robot will not have any effect.
Allowed values
A value between 0.0 and 1.0.
Default value is 0.6.
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Index
A
B
C calibration
when to do a fine calibration, 47 when to update the revolution counters, 47
calibration position
D
E emergency stop button
emergency stops
F
jogging to calibration position, 56
Friction compensation lead through factor, 67
I
I/O signals, 45 industrial networks, 45
J
jogging, 31 jogging window, 31
L
M
O
P
protective equipment, 17 protective wear, 17
Q
R
RobotStudio
S safety
signals, 20 signals in manual, 20 symbols, 20
safety signals
signals
standards
symbols
U
UAS, user authorization system, 46
Index
Operating manual - IRB 14000
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
69
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 abb.com/robotics
© Copyright 2015-2018 ABB. All rights reserved.
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Key features
High payload capacity for handling heavy objects
Impressive reach for extended workspaces
Advanced motion control for smooth and precise operation
Integrated collision avoidance system for enhanced safety
User-friendly programming and operation through FlexPendant and RobotStudio
Compact design for space-saving installation
Wide range of optional equipment for customization
Global support and service network for peace of mind
Frequently asked questions
The IRB 14000 is equipped with an integrated collision avoidance system, protective stop, and emergency stop functions to ensure operator safety.
Yes, the IRB 14000 can be programmed offline using RobotStudio, allowing for efficient program development and testing.
The maximum payload capacity of the IRB 14000 varies depending on the specific model, but can range up to several hundred kilograms.
