1203.6.3 The SafeMove configurator app on FlexPendant ...........................................
1323.6.4 Guidelines for transient and quasi-static contact, CRB 15000 ..........................
1353.6.5 Configuration of SafeMove using Visual SafeMove in RobotStudio ...................
1413.6.6 Information about Collaborative Speed Control add-in ....................................
1423.6.7 Speed control .........................................................................................
142
3.6.7.1 Configuration of one PROFINET-base laser scanner (RobotWare 7.5 or
earlier) .......................................................................................
148
3.6.7.2 Configuration of one PROFIsafe-based laser scanner (RobotWare 7.6 or
later and PLC acting as Master) ......................................................
152
3.6.7.3 Configuration of two PROFIsafe-based laser scanners (RobotWare 7.6 or
later and PLC acting as Master) ......................................................
156
3.6.7.4 Configuration of one PROFIsafe-based laser scanner (RobotWare 7.10 or
later and OmniCore acting as Master) ..............................................
160
3.6.7.5 Configuration of two PROFIsafe-based laser scanners (RobotWare 7.10
or later and OmniCore acting as Master) ..........................................
164
3.6.7.6 Configuration of one SafetyIO-base laser scanner (RobotWare 7.6 or
later) .........................................................................................
169
3.6.7.7 Configuration of two SafetyIO-base laser scanners (RobotWare 7.6 or
later) .........................................................................................
1743.6.7.8 Speed control strategies ...............................................................
1773.6.8 Use cases of safety configurations .............................................................
1834 Maintenance
1834.1 Introduction ......................................................................................................
1844.2 Maintenance schedule and expected component life ...............................................
1844.2.1 Specification of maintenance intervals ........................................................
1854.2.2 Maintenance schedule .............................................................................
1864.3 Inspection activities ...........................................................................................
1864.3.1 Inspecting the robot .................................................................................
1904.3.2 Inspecting the cable harness ....................................................................
1954.4 Cleaning activities .............................................................................................
1954.4.1 Cleaning the CRB 15000 ...........................................................................
1964.5 Testing activities ...............................................................................................
1964.5.1 Testing the brake release functionality ........................................................
1984.5.2 Running the Cyclic Brake Check routine ......................................................
1994.5.3 Testing the functionality of the joint electronics .............................................
2015 Repair
2015.1 Introduction ......................................................................................................
2025.2 General procedures ...........................................................................................
2025.2.1 Mounting instructions for sealings ..............................................................
2055.3 Cable harness ..................................................................................................
2055.3.1 Replacing the base cabling ......................................................................
2215.3.2 Replacing the axis-1 cabling ......................................................................
2915.3.3 Replacing the axis-2 cabling ......................................................................
3435.3.4 Replacing the axis-3 cabling .....................................................................
3785.3.5 Replacing the axis-4 cabling .....................................................................
4175.3.6 Replacing the axis-5 cabling .....................................................................
4635.3.7 Replacing the axis-6 cabling .....................................................................
4875.3.8 Replacing the axis-5 to axis-6 transition cabling ...........................................
4885.3.9 Replacing the brake release unit ...............................................................
5065.4 Upper and lower arms ........................................................................................
5065.4.1 Replacing the lower arm ..........................................................................
5255.4.2 Replacing the housing .............................................................................
5625.4.3 Replacing the tubular ..............................................................................
5975.4.4 Replacing the wrist housing ......................................................................
6365.4.5 Replacing the tool flange and axis-6 inner flange ..........................................
6435.4.6 Replacing the arm-side interface ...............................................................
6 Product manual - CRB 15000
3HAC077389-001 Revision: L
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