ABB CRB 1300 - Page 7

2605.4 Swing and base ................................................................................................
2605.4.1 Replacing the base ..................................................................................
2805.4.2 Replacing the swing ................................................................................
3225.4.3 Replacing the axis-1 mechanical stops ........................................................
3245.4.4 Replacing the axis-2 mechanical stops ........................................................
3265.5 Upper and lower arms ........................................................................................
3265.5.1 Replacing the lower arm ...........................................................................
3785.5.2 Replacing the housing and extender unit .....................................................
4205.5.3 Replacing the tubular and tilt unit ...............................................................
4785.5.4 Replacing the axis-3 mechanical stops ........................................................
4815.5.5 Replacing the axis-4 mechanical stops ........................................................
4835.6 Motors ............................................................................................................
4835.6.1 Replacing the axis-1 motor ........................................................................
4955.6.2 Replacing the axis-2 motor ........................................................................
5085.6.3 Replacing the axis-3 motor ........................................................................
5185.6.4 Replacing the axis-4 motor ........................................................................
5285.6.5 Replacing the axis-5 motor ........................................................................
5415.6.6 Replacing the axis-6 motor ........................................................................
5545.7 Gearboxes .......................................................................................................
5545.7.1 Replacing the axis-1 gearbox ....................................................................
5585.7.2 Replacing the axis-2 gearbox ....................................................................
6025.7.3 Replacing the axis-3 gearbox ....................................................................
6315.7.4 Replacing the axis-4 gearbox ....................................................................
6636 Calibration
6636.1 Introduction to calibration ...................................................................................
6636.1.1 Introduction and calibration terminology ......................................................
6646.1.2 Calibration methods .................................................................................
6666.1.3 When to calibrate ...................................................................................
6676.2 Synchronization marks and axis movement directions .............................................
6676.2.1 Synchronization marks and synchronization position for axes .........................
6686.2.2 Calibration movement directions for all axes ................................................
6696.3 Updating revolution counters ...............................................................................
6696.3.1 Updating revolution counters on OmniCore robots ........................................
6716.4 Calibrating with Axis Calibration method ...............................................................
6716.4.1 Description of Axis Calibration ..................................................................
6746.4.2 Calibration tools for Axis Calibration ...........................................................
6776.4.3 Installation locations for the calibration tools ...............................................
6806.4.4 Axis Calibration - Running the calibration procedure ......................................
6846.4.5 Reference calibration ...............................................................................
6866.5 Calibrating with Wrist Optimization method ...........................................................
6886.6 Verifying the calibration ......................................................................................
6896.7 Checking the synchronization position ..................................................................
6917 Troubleshooting
6917.1 Introduction to troubleshooting ............................................................................
6937.2 Oil and grease stains on motors and gearboxes ......................................................
6947.3 Mechanical noise or dissonance ..........................................................................
6957.4 Manipulator collapses on power down ...................................................................
6967.5 Motor temperature too high .................................................................................
6977.6 Communication failure between PROFIsafe-based laser scanner, PLC, and controller ....
6987.7 Communication failure between PLC and controller .................................................
7007.8 Communication failure between scalable I/O device and controller .............................
7017.9 Errors related to stopped background task T_SWIFTI_LED .......................................
7027.10 Unable to remove or reselect installed options in Collaborative Speed Control add-in ....
7037.11 Unexpected robot movement when starting the program in Protecting Area .................
Product manual - CRB 1300 7
3HAC083111-001 Revision: B
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