DescriptionRevision
The following updates are done in this revision:
• Changed tightening torque of axis-7 motor from 0.2 Nm to 0.8 Nm.
• Added a tightening torque for the axis-7 cable bracket (0.8 Nm).
• Corrected orientation of removal tool on motor in figure that shows
fitting of the removal tool on the axis-1 motor.
• Corrected the procedure for replacing the axis-6 motor by adding
steps for removal of two more covers/padding added.
• Corrected figure of the axis-3 motor to show orientation of motor
according to motor connector location.
• Corrected the procedure for replacing the battery pack by adding
step for removal of two more screws on the body cover.
• Added a caution signal to be careful not to hit the arms into
something while lifting and transporting the robot.
• Changed procedure for replacing the field bus adapter. The com-
puter cover does not need to be removed.
• Added a step for moving the battery packs from the old drive board
onto the new.
• Added information about deviations and fulfilment of certain re-
quirements for ISO10218-1:2011, see Applicable safety standards
on page 442.
• Added safety information for collaborative robots, see Safety in
collaborative operation on page 20.
• Changed torque y and torque z for endurance load and maximum
load.
• Added information about setting the running speed to 100% before
running fine calibration procedure.
B
The following updates are done in this revision:
• Figures in procedures about Fitting the wave generator to the
motor are updated.
• Grease name and volume is moved to Manual Lubrication in
gearboxes.
• Specification of screws added to section "Reference information".
• Screw/nut type and tightening torque added to steps in section
"Repair".
• Plastic parts are ESD coated; names and spare part numbers are
modified.
• ABB-supplied main power cables in different interface standards
are provided as options. See Main power cable on page 86.
• Applicable ESD-standards added.
• Information added about checking PTFE film before refitting the
axis-5 and axis-6 motors, see Replacing the axis-5 motor on
page 199 and Replacing the axis-6 motor on page 211.
C
Published in release R16.2. The following updates are done in this revi-
sion:
• Sections about Replacing axis-1 and axis-7 motor revised.
• Safety section about pressure relief valves added, see Safety risks
with pressure relief valve on page 27.
• RT6 safety relay supported and related information added. See
RT6 safety relay (option 1526-X) on page 104.
• Max current added for pin 9 on connector XS7 and XS8.
• Added line fusing, rated power, and required equipment informa-
tion for power connection to the controller. See Connecting power
supply on page 90.
• Recalibration instruction for replacing hall sensors revised.
D
Product manual - IRB 14000 11
3HAC052983-001 Revision: D
© Copyright 2015 - 2016 ABB. All rights reserved.
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