ABB CRB 1300 - Page 156

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156 Product manual - CRB 1300

3HAC083111-001 Revision: B

3 Installation and commissioning

3.7.5.7 Speed control strategies

Continued

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Table of Contents5
Overview of this Manual9
Product Documentation11
How to Read the Product Manual13
Network Security14
Safety15
Safety Information15
Limitation of Liability15
Requirements on Personnel16
Safety Signals and Symbols17
Safety Signals in the Manual17
Safety Symbols on Manipulator Labels19
Robot Stopping Functions25
Safety During Installation and Commissioning26
Safety During Operation28
Safety During Maintenance and Repair29
Emergency Release of the Robot Axes31
Brake Testing32
Safety During Troubleshooting33
Safety During Decommissioning34
Manipulator Description35
About CRB 130035
Technical Data36
Safety Data40
Dimensions41
Working Range44
The Unit Is Sensitive to ESD49
Installation and Commissioning51
Introduction to Installation and Commissioning51
Unpacking52
Pre-Installation Procedure52
Risk of Tipping/Stability53
Extra O-Rings55
Transportation Bracket56
On-Site Installation58
Lifting the Robot58
Lifting the Robot with Roundslings58
Lifting and Rotating a Suspended Mounted Manipulator63
Manually Releasing the Brakes65
Orienting and Securing the Robot67
Setting the System Parameters for an Inverted or a Tilted Robot71
Loads Fitted to the Robot, Stopping Time and Braking Distances74
Fitting Equipment on the Robot (Robot Dimensions)75
Installation of Lead-Through Device82
Installation of Laser Scanner88
Restricting the Working Range94
Adjusting the Working Range94
Mechanically Restricting the Working Range95
Electrical Connections98
Robot Cabling and Connection Points98
Customer Connections102
Start of Robot in Cold Environments106
Configuring the Software107
Information about Robotware and CRB 1300108
Information about Collaborative Speed Control Add-In109
Lead-Through110
Safemove115
The Safemove Configurator App on Flexpendant115
Configuration of Safemove Using Visual Safemove in Robotstudio125
Speed Control129
Configuration of One Profisafe-Based Laser Scanner (Robotware 7.6 or Later and PLC Acting as Master)129
Configuration of Two Profisafe-Based Laser Scanners (Robotware 7.6 or Later and PLC Acting as Master)133
Configuration of One Profisafe-Based Laser Scanner (Robotware 7.10 or Later and Omnicore Acting as Master)137
Configuration of Two Profisafe-Based Laser Scanners141
Or Later and Omnicore Acting as Master)141
Configuration of One Safetyio-Base Laser Scanner (Robotware 7.6 or Later)145
Configuration of Two Safetyio-Base Laser Scanners (Robotware 7.6 or Later)150
Speed Control Strategies155
Robot Status Indication157
Use Cases of Safety Configurations159
Test Run after Installation, Maintenance, or Repair164
Maintenance165
Introduction165
Maintenance Schedule and Expected Component Life166
Specification of Maintenance Intervals166
Maintenance Schedule167
Expected Component Life169
Cleaning Activities170
Cleaning the CRB 1300170
Inspection Activities172
Inspecting the Information Labels172
Inspecting the Robot Cabling174
Inspecting Mechanical Stops175
Inspecting Timing Belts179
Inspecting the Oil Level in Axis-2 Gearbox181
Lubrication Activities185
Lubricating the Cable Package185
Replacement Activities188
Replacing the Battery Pack188
Changing Activities194
Type of Lubrication in Gearboxes194
Changing Oil, Axis-1 Gearbox195
Changing Oil, Axis-2 Gearbox200
Repair205
Introduction205
General Procedures206
Mounting Instructions for Sealings206
Cut the Paint or Surface on the Robot before Replacing Parts209
The Brake Release Buttons May be Jammed after Service Work210
Cable Harness211
Replacing the Cable Package211
Replacing the SMB Unit248
Replacing the Brake Release Unit255
Swing and Base260
Replacing the Base260
Replacing the Swing280
Replacing the Axis-1 Mechanical Stops322
Replacing the Axis-2 Mechanical Stops324
Upper and Lower Arms326
Replacing the Lower Arm326
Replacing the Housing and Extender Unit378
Replacing the Tubular and Tilt Unit420
Replacing the Axis-3 Mechanical Stops478
Replacing the Axis-4 Mechanical Stops481
Motors483
Replacing the Axis-1 Motor483
Replacing the Axis-2 Motor495
Replacing the Axis-3 Motor508
Replacing the Axis-4 Motor518
Replacing the Axis-5 Motor528
Replacing the Axis-6 Motor541
Gearboxes554
Replacing the Axis-1 Gearbox554
Replacing the Axis-2 Gearbox558
Replacing the Axis-3 Gearbox602
Replacing the Axis-4 Gearbox631
Calibration663
Introduction to Calibration663
Introduction and Calibration Terminology663
Calibration Methods664
When to Calibrate666
Synchronization Marks and Axis Movement Directions667
Synchronization Marks and Synchronization Position for Axes667
Calibration Movement Directions for All Axes668
Updating Revolution Counters669
Updating Revolution Counters on Omnicore Robots669
Calibrating with Axis Calibration Method671
Description of Axis Calibration671
Calibration Tools for Axis Calibration674
Installation Locations for the Calibration Tools677
Axis Calibration - Running the Calibration Procedure680
Reference Calibration684
Calibrating with Wrist Optimization Method686
Verifying the Calibration688
Checking the Synchronization Position689
Troubleshooting691
Introduction to Troubleshooting691
Oil and Grease Stains on Motors and Gearboxes693
Mechanical Noise or Dissonance694
Manipulator Collapses on Power down695
Motor Temperature too High696
Communication Failure between Profisafe-Based Laser Scanner, PLC, and Controller697
Communication Failure between PLC and Controller698
Communication Failure between Scalable I/O Device and Controller700
Errors Related to Stopped Background Task T_SWIFTI_LED701
Unable to Remove or Reselect Installed Options in Collaborative Speed Control Add-In702
Unexpected Robot Movement When Starting the Program in Protecting Area703
Decommissioning705
Introduction to Decommissioning705
Environmental Information706
Scrapping of Robot708
Reference Information709
Introduction709
Applicable Standards710
Unit Conversion711
Screw Joints712
Weight Specifications715
Standard Toolkit716
Special Tools717
Lifting Accessories and Lifting Instructions718
Spare Parts719
Spare Part Lists and Illustrations719
Index721

ABB CRB 1300 - Page 156

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