Page 1 Product manual IRB 14000...
Page 2 Trace back information: Workspace R16-2 version a5 Checked in 2016-09-08 Skribenta version 4.6.318...
Page 4 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.
Page 5: Table Of Contents
Lifting the robot with lifting accessories ............2.3.2 Lifting the robot by two persons ..............2.3.3 Orienting and securing the robot ..............2.3.4 Manually releasing the brakes ..............Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 6: Table Of Contents
Replacing the axis-2 mechanical stop ............4.6.3 Replacing the axis-7 mechanical stop ............4.6.4 Replacing the axis-3 mechanical stop ............Controller ......................4.7.1 Replacing the computer ................Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 7: Table Of Contents
Specification of screws ..................Screw joints ..................... Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Index Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
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Page 9: Overview Of This Manual
Prerequisites A maintenance/repair/installation personnel working with an ABB Robot must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Organization of chapters The manual is organized in the following chapters: Chapter...
Page 10 Added figures for axis-4, axis-5 and axis-6 motors for removal and refitting of the wave generator. • Added reference to absolute accuracy calibration for some repair procedures. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 11 Added line fusing, rated power, and required equipment informa- tion for power connection to the controller. See Connecting power supply on page • Recalibration instruction for replacing hall sensors revised. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 12: Product Documentation, Irc5
This listing is based on the type of information in the documents, regardless of whether the products are standard or optional. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for IRC5 robot systems.
Page 13 Operating manual - IRC5 Integrator's guide • Operating manual - IRC5 with FlexPendant • Operating manual - RobotStudio • Operating manual - Trouble shooting IRC5 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 15: Network Security
ABB Ltd and its entities are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.
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Page 17: Safety
Specific safety information, pointed out in the procedures. How to avoid and eliminate the danger is either described directly in the procedure, or in specific instructions in the section Safety related instructions on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 18: General Safety Information
• stopping functions Safety stops describes different types of • description of emergency stop stops. • description of safety stop Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 19: Safety In The Robot System
Limitation of liability Any information given in this manual regarding safety must not be construed as a warranty by ABB that the industrial robot will not cause injury or damage even if all safety instructions are complied with. Related information...
Page 20: Safety In Collaborative Operation
1.2.3 Safety in collaborative operation General IRB 14000 is intended for collaborative applications where contact between robot and the operator is harmless. The robot is designed to comply with ISO 10218-1, §5.10.5. Power and force limiting by inherent design or control. This is achieved by inherent design measures in the robot arm and control system.
Page 22: Safety Risks
ABB is not liable for damages caused by the use of non-original spare parts and special equipment. ABB is not liable for damages or injuries caused by unauthorized modifications to the robot system.
Page 23 Gears may be damaged if excessive force is used! CAUTION Whenever parting/mating motor and gearbox, the gears may be damaged if excessive force is used! Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 24: Caution - Hot Parts May Cause Burns
Wait until the potentially hot component has cooled if it is to be removed or handled in any other way. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 25: Safety Risks Related To Tools/Work Pieces
The IRB 14000 gripper is not designed to retain work pieces in case of power loss. Objects held by the servo and vacuum modules may be released, in the event of pneumatic or electric power loss to the gripper.
Page 26: Safety Risks Related To Pneumatic Systems
All pipes, hoses and connections have to be inspected regularly for leaks and damage. Damages must be repaired immediately. Wear safety glasses when working with the pneumatic systems. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 27: Safety Risks With Pressure Relief Valve
If too much air pressure has been built up, there is a risk of personal injury and mechanical damage. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 28: Safety Risks During Operational Disturbances
If the working process is interrupted, extra care must be taken due to risks other than those associated with regular operation. Such an interruption may have to be rectified manually. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 29: Risks Associated With Live Electric Parts
VAC). • The IRB 14000 gripper is powered by 24 V DC from the robot tool flange. A risk for short-circuit and sparks exists. All installation and service works should be done with power disconnected from the gripper and the tool flange.
Page 30 Tools, material handling devices, etc., may be live even if the robot system is in the OFF position. Power supply cables which are in motion during the working process may be damaged. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 31: Safety Risks For Collaborative Robots
(fingers, suction tools) designed for the application • work pieces handled by the robot in the application • any custom gripping solutions that are selected for the application Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 32: Safety Actions
1.2.5.1 Fire extinguishing Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the robot system (robot or controller)! Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 33: Emergency Release Of The Robot Arm
Increased injury There are no safety risks when releasing the brakes, the robot has the highest priority of safety. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 34: Manually Stopping Or Overriding The Arm
To prevent unnecessary damage and wear to the robot arm, it is strongly recommended to use the normal stopping functions of the control system, and push the brake release buttons before manually moving the arm. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 35: Brake Testing
3 Inspect and verify that the axis maintains its position. If the robot does not change position as the motors are switched off, then the brake function is adequate. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 36: Risk Of Disabling Function "Reduced Speed 250 Mm/S
Do not change Transm gear ratio or other kinematic system parameters from the FlexPendant or a PC. This will affect the safety function "Reduced speed 250 mm/s". Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 37: Handling Of The Flexpendant
Make sure that nobody trips over the cable to prevent the device from falling to the ground. • Take care not to squeeze and thus damage the cable with any object. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 38 Note The FlexPendant is always equipped with a three-position enabling device, but for the IRB 14000 system the enabling device is not used. Therefore the enabling device is disabled and inactive when the FlexPendant is connected to an IRB 14000 system, but it is enabled and active when connected to another robot.
Page 40: Signal Lamp (Optional)
The lamp is active in MOTORS ON mode. Further information Further information about the MOTORS ON/MOTORS OFF mode may be found in the product manual for the controller. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 41: Safety Stops
FlexPendant. There can also be other types of emergency stops on your robot. Consult your plant or cell documentation to see how your robot system is configured. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 42: What Is A Safety Stop Or Protective Stop
For how to perform normal program stops, see section Stopping programs in Operating manual - IRC5 with FlexPendant. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 43: What Is Cartesian Speed Supervision
The Cartesian speed supervision is active in both manual and automatic mode. The setting is defined by system parameters. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 44: Safety Signals And Symbols
ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product. xx0200000023 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 45 Describes important facts and conditions. xx0100000004 Describes where to find additional information or how to do an operation in an easier way. xx0100000098 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 46: Safety Symbols On Product Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 47 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 48 The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Heat Risk of heat that can cause burns. xx0900000818 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 49 Description Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Brake release buttons xx0900000820 xx1000001140 Lifting bolt xx0900000821 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 50 Stored energy Warns that this part contains stored energy. Used in combination with Do not disassemble symbol. xx0900000825 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 51 Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 52: Safety Related Instructions
Make sure no personnel are present within the working range of the robot before pressing the start button. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 53: Danger - First Test Run May Cause Injury Or Damage
Verifiy that all arm covers and paddings are properly secured to the robot. Pay special attention to the function of the part that previously was serviced. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 54: Danger - Make Sure That The Main Power Has Been Switched Off
Elimination, Controller Action Note/illustration Switch off the main switch on the controller. xx1500000503 • A: Main switch Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 55: Warning - The Unit Is Sensitive To Esd
Location of wrist strap button The location of the wrist strap button is shown in the following illustration. IRB 14000 xx1500000502 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 56: Warning - Safety Risks During Handling Of Batteries
Use safety glasses when handling the batteries. In the event of leakage, wear gloves and chemical apron. In the event of fire, use self-contained breathing apparatus. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 57: Warning - Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)
Possible pressure build-up in gearbox Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 58 The magnetic oil plugs will take care of any remaining metal Contaminated oil in chips. gear boxes Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 59: Installation And Commissioning
Safety on page 17 before performing any installation work. Note If the IRB 14000 is connected to power, always make sure that the robot is connected to protective earth before starting any installation work! For more information see: • Product manual - IRC5...
Page 60: Unpacking
It also contains information useful during later re-installation of the robot. Checking the pre-requisites for installation Installation personnel working with an ABB product must: • be trained by ABB and have the required knowledge of mechanical and electrical installation/maintenance/repair work • conform to all national and local codes.
Page 61 Endurance load (in operation) Max. load (emergency stop) Force x ±89 N ±178 N Force y ±147 N ±294 N Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 62 Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 63 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Standard IP30 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 64: Dimensions
2 Installation and commissioning 2.2.2 Dimensions 2.2.2 Dimensions Dimensions IRB 14000 187.5 (360) xx1500000103 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 65: Working Range
Illustration, working range IRB 14000 The illustrations show the unrestricted working range of the robot. Front view 1018 xx1500000105 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 66 2 Installation and commissioning 2.2.3 Working range Continued Side view 1018 xx1500000660 Top view 680.8 xx1500000336 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 67 Wrist - Rotation motion -290° to +290° Axis 5 Wrist - Bend motion -88° to +138° Axis 6 Flange - Rotation motion -229° to +229° Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 68: Risk Of Tipping/Stability
This figure shows the robot in its shipping position, which also is a recommended transport position. xx1500000625 WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 69: On-Site Installation
2.3.1 Lifting the robot with lifting accessories Introduction The IRB 14000 is a collaborative robot, the whole robot can be lifted by lifting accessories or lifted by two persons. This section contains a general overview of how to lift the complete robot using lifting accessories.
Page 70 Carefully stretch the chain by lifting the crane slowly. Remove the robot attachment screws (if the Screw (8 pcs) of M5x25 robot is fastened). Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 71 2 Installation and commissioning 2.3.1 Lifting the robot with lifting accessories Continued Action Note Raise the overhead crane to lift the robot. xx1500000053 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 72: Lifting The Robot By Two Persons
Lifting and transporting the robot Use this procedure to lift the robot. Action Note CAUTION The IRB 14000 robot weighs 38 kg and can be lifted by two persons. Grasp the hand-holding grooves, one person on each side of the robot. xx1400002122...
Page 73 Secure the robot on a workbench according to Screws: 8 pcs M5x25 section Orienting and securing the robot on Washers: 8 pcs, 5.3x10x1 page xx1400002021 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 74: Orienting And Securing The Robot
B - B 98 - 0.06 6 H8 0.06 58 1 12 ±2 (A) (2x) C - C xx1400002124 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 75 Quality Washer 8 pcs, 5.3x10x1 Guide pins 2 pcs, article number 3HNP00449-1 Tightening torque 3.8 Nm ± 0.38 Nm Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 76 Washers: 8 pcs, 5.3x10x1. Tighten the bolts crosswise to ensure that the Tightening torque: 3.8 Nm ± 0.38 Nm base is not distorted. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 77: Manually Releasing The Brakes
There are two brake release buttons, located as shown in the figure. xx1400002126 Brake release button for right arm Brake release button for left arm Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 78 Release the holding brake on the left arm axes by pressing the button B. The brake will function again as soon as the button (A or B) is released. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 79: Loads Fitted To The Robot
The loads must also be defined in the software as detailed in: • Operating manual - IRC5 with FlexPendant Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 80: Installing The Signal Lamp
Includes attachment screws. Hex socket head cap screw 3HAC050368-005 M2x8 8.8 Torx pan head screw 3HAC050367-005 M3x12 8.8 Gleitmo 605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 81 Remove the body cover top screws. xx1400002904 Remove the body cover. xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 82 Make sure that all supplies for electrical power, hy- draulic pressure, and air pressure are turned off. Remove the protection cover. xx1500000605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 83 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 84 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 85 2.3.6 Installing the signal lamp Continued Action Note Refit the body cover top screws. Screws: M3x6 (4 pcs). Tightening torque: 0.2 Nm. xx1400002904 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 86: Electrical Connections
Communicates with FlexPendant to which the robot con- nects. Main power cable Main power cable can be provided by customer or purchased from ABB as option. The following table lists the ABB-supplied main power cables in different interface standards. Choose as required.
Page 87: Controller
The IRB 14000 integrated controller is based on the standard IRC5 controller, and contains all functions needed to move and control the robot. xx1400002127 Note When replacing a unit in the controller, report the following data to ABB, for both the replaced unit and the replacement unit: • the serial number •...
Page 88 O.D. 4 mm air hose, 0.5 MPa air pressure Air R Air supply, right arm O.D. 4 mm air hose, 0.5 MPa air pressure Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 89 The following illustration describes the interface on the right side panel of the controller. xx1400002125 Power switch FlexPendant Power input Main AC power connector, IEC 60320-1 C14, 100-240 VAC, 50-60 Hz Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 90: Connecting Power And The Flexpendant
Main AC power connector, IEC 60320-1 C14, 100-240 VAC, 50-60 Hz Connecting power supply Line fusing Line fusing of the IRB 14000 is 5A at 100-240 V. Rated power Rated power of the IRB 14000 is 360 W. Required equipment...
Page 91 Plug in the FlexPendant cable connector. Screw the connector lock ring firmly by turning it clockwise. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 92: Connecting A Pc And Ethernet Based Options
XP24 USB port to main computer Multiple Ethernet based options For IRB 14000 it is possible to use both the options PROFINET Controller/Device (888-2) and EtherNet/IP Scanner/Adapter (841-1) at the same time. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D ©...
Page 93: Connectors On The Computer Unit
Service port The service port is intended for service engineers and programmers connecting directly to the controller with a PC. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 94 For more information about connecting a PC to the WAN port, see section Working online in Operating manual - RobotStudio. LAN ports The LAN 1 port is dedicated for connecting the FlexPendant. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 95 For example field buses, cameras, and welding equipment. Note When using IRB 14000 grippers, the following restrictions apply to the usage of LAN2: • Any external units connected to LAN2 need to have IP addresses on the same subnet as the grippers, network 192.168.125.0/24.
Page 96 USB on the X10 connector for connecting USB memory devices. The USB ports on the X11 connector are intended for internal use. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 97: Connecting I/O Signals
2 Installation and commissioning 2.4.4 Connecting I/O signals 2.4.4 Connecting I/O signals Introduction It is possible to connect digital I/O signals to the IRB 14000 through the connectors on the interface on the left side panel of the controller. xx1400002129 XS12...
Page 98 For more information about configuring I/O, see Application manual - DeviceNet Master/Slave and Technical reference manual - System parameters Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 99: Connecting Fieldbuses
PROFINET or EtherNet/IP (fieldbus adapter option) Note DeviceNet m/s (option 709-1) is provided at XS17 as default. The DeviceNet fieldbus adapter (option 840-4) is not supported by IRB 14000. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D...
Page 100 The fieldbus adapters are inserted into the expansion board on top of the main computer unit. There is one slot available for installing a fieldbus adapter. xx1300000604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 101 CANL and CANH - that is, between pin 2 and pin 4 according to the illustration below. xx0400000674 References For more information on how to install and configure the fieldbuses, see the respective fieldbus application manual. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 102: Connecting Safety Signals
2.4.6 Connecting safety signals Introduction The IRB 14000 safety stop signals (SS) are accessed through the safety connector on the interface on the left side panel of the controller. This is covered by a safety bridge connector by default in standalone mode. If the bridge connector is removed, it is external device mode.
Page 103 IRB 14000 FlexPendant. Safety PLC The safety PLC shall process the input from the IRB 14000 emergency stop, as well as inputs from other safety devices in the cell, and set the necessary outputs to stop machinery in the cell.
Page 104 RT6 safety relay (option 1526-X) through the safety connector XS9. The safety relay also receives main power inputs and then feeds the inputs to the robot power inlet. Contact ABB for further information. xx1600001076 For more information about connecting the safety signals, see Circuit diagram - IRB 14000.
Page 105: Memory Functions
2.4.7.1 SD-card memory 2.4.7 Memory functions 2.4.7.1 SD-card memory General The controller is fitted with an SD-card memory containing ABB Boot Application software. The SD-card memory is located inside the computer unit. Note Only use SD-card memory supplied by ABB.
Page 106: Connecting An Usb Memory
Location on the FlexPendant The location of the USB port on the FlexPendant is shown by the following illustration: xx1500000701 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 107: Maintenance
Safety on page 17 before performing any service work! Note If the IRB 14000 is connected to power, always make sure that the IRB 14000 is connected to protective earth before starting any maintenance work! For more information see: •...
Page 108: Maintenance Schedule
3.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 14000: • Calendar time: specified in months regardless of whether the system is running or not.
Page 109 Plastic and padding parts are a safety feature of the robot, that limit impact during collisions. To ensure a maintained safety level of the robot, regular inspections of these parts are necessary. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 110 The table below specifies the required maintenance activities and intervals: Maintenance activities Reference Inspection activities Inspecting the signal lamp Inspecting, signal lamp on page 115 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 111: Inspection Activities
UL-label label label manual ESD warning rating label VIEW C xx1500000720 Description Illustration Instruction plate, Brake release xx1500000723 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 112 Continued Rating label xx1500000724 Lifting label xx1500000725 Caution label, Risk of tipping xx1500000726 Read manual label xx1500000727 Calibration label Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 113 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 114 Inspect the labels, located as shown in the figures. Replace any missing or damaged labels. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 115: Inspecting, Signal Lamp
Use this procedure to inspect the function of the signal lamp. Action Note Verify that the signal lamp is lit when motors are put in operation ("MOTORS ON"). Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 116 For details about how to replace the signal lamp, see Installing the • Inspect the cabling. Replace the cabling if a signal lamp on page fault is detected. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 117: Inspecting, Cable Harness
Required tools and equipment Equipment, etc. Article number Note Standard toolkit Content is defined in section Standard toolkit on page 449. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 118 CAUTION section Replacing the encapsula- tion and covers on page 145. Be careful not to squeeze any cabling during the refitting procedure. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 119: Inspecting, Plastic And Padding
• electric power supply • air pressure supply to the robot, before starting the inspection work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 120 Tightening torques are specified in fully fastened. Manually check that the parts are Replacing the encapsulation and not loose. Tighten, if needed. covers on page 145. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 121: Replacement/Changing Activities
Required spare parts Note The spare part numbers that are listed in the table can be out of date. Contact ABB for the latest revision of Product manual, spare parts - IRB 14000. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D ©...
Page 123 Disconnect the battery connector(X3). xx1500000505 Cut the cable tie that secures the battery and re- move the battery. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 124 WARNING - The unit is sensitive to ESD! on page 55 Fit the battery and and secure it with a cable tie. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. xx1500000506 Connect the battery connector (X3). xx1500000505 Refit the body cover.
Page 125 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 126: Cleaning Activities
Turn off all electrical power supplies to the robot before starting the cleaning. General To secure high uptime it is important that the IRB 14000 is cleaned regularly. The frequency of cleaning depends on the environment in which the manipulator works.
Page 127: Repair
Make sure to read through the chapter Safety on page 17 before commencing any service work. Note If the IRB 14000 is connected to power, always make sure that the IRB 14000 is connected to earth before starting any repair work. For more information see: •...
Page 128: General Procedures
Mount the seal correctly with a mounting tool. Never hammer directly on the seal as this may result in leakage. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 129 If the flange surfaces are defective, the parts may not be used because leakage could occur. Clean the surfaces properly in accordance with the recommendations of ABB. Distribute the sealing compound evenly over the surface, preferably with a brush. Tighten the screws evenly when fastening the flange joint.
Page 130: Arm And Arm Covers
Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D ©...
Page 131 This figure shows an overview of which covers to remove to get access to the spare part. Detailed instructions of how to remove the covers are found in the removal procedure. xx1500000493 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 132 Make sure that all supplies for electrical power and air pressure are turned off. Remove the body cover top screws. xx1400002904 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 133 Removing the axis-1 covers Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 134 Note Remove the upper axis-1 cover. xx1400002601 xx1400002605 Remove the upper screws of the lower axis- 1 cover. xx1500000565 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 135 Two persons working together are required to perform this procedure. Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 136 Remove the arm from the body. CAUTION The cabling is still connected inside the robot, be careful not to strain the cables! xx1400002608 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 137 CAUTION The controller weighs 13 kg. Support the weight of the controller! xx1500000365 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 138 Leave these screws for now. CAUTION Be careful not to squeeze any cabling dur- ing the refitting procedure. xx1400002608 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 139 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 140 Release the brakes and rotate axis 1 in or- der to access all the screws. xx1500000543 Turn off the electric power supply again. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 141 Refit the lower axis-1 cover. Screws: 3HAC050368-005. (4 pcs) Nuts: 9ADA267-1. (4 pcs) Tightening torque: 0.14 Nm. xx1400002606 xx1400002604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 142 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 143 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 144 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 145: Replacing The Encapsulation And Covers
3HAC057718-001 Upper axis-1 cover, 0.14 Nm ESD coated 9ADA267-4 3HAC057719-001 Upper axis-1 cover, 0.14 Nm brake, ESD coated 9ADA267-4 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 146 Cover Q (3HAC050545-001) 3HAC057727-001 Axis-3 cable collar, Cover J 0.14 Nm ESD coated (3HAC050532-001) Cover K (3HAC050538-001) Cover M (3HAC050535-001) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 147 Article number Note Standard toolkit Content is defined in section Standard toolkit on page 449. Consumables Consumable Article number Note Locking liquid Loctite 454 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 148: Motors
It is recommended to exchange the complete arm in case of a broken axis-1 motor. Replacing the complete arm on page 130 The axis-1 motor can be replaced by ABB, contact your local ABB for more information. Product manual - IRB 14000 3HAC052983-001 Revision: D ©...
Page 149: Replacing The Axis-2 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 150 Cleaning agent Isopropanol Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 151 This figure shows an overview of which covers to remove to get access to the spare part. Detailed instructions of how to remove the covers are found in the removal procedure. xx1500000425 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 152 Removing the body covers Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 153 Remove the body cover top screws. xx1400002904 Remove the body cover. xx1500000303 Remove the back screws of the lower body cover. xx1500000540 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 154 Make sure that all supplies for electrical power and air pressure are turned off. Remove the upper axis-1 cover. xx1400002601 xx1400002605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 155 4.4.2 Replacing the axis-2 motor Continued Action Note Remove the upper screws of the lower axis- 1 cover. xx1500000565 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 156 Turn the lower axis-1 cover in order to ac- cess all screws properly and remove the lower axis-1 cover. xx1400002604 xx1400002606 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 157 R1.FB2R / R1.FB2L CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used! Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 158 Lifting the motor out creates a hole into the gear, make sure no dirt falls into the hole. xx1500000522 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 159 Fitting a new o-ring on the motor Action Note Wipe the o-ring groove of the motor clean. Motor M93: 3HAC036859-001. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 160 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 4, axis 5 and axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 161 Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 4, axis 5 and axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 162 Axis 4, axis 5 and axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 163 - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 4, axis 5 and axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 164 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used! Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 165 1 Nm first, then final cross-tighten to 3 xx1400002613 Reconnect the motor connectors. • R1.MP2R / R1.MP2L • R1.FB2R / R1.FB2L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 166 Refitting the axis-2 covers Action Note Refit the lower axis-2 cover. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1500000087 xx1400002612 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 167 Refit the lower axis-1 cover. Screws: 3HAC050368-005. (4 pcs) Nuts: 9ADA267-1. (4 pcs) Tightening torque: 0.14 Nm. xx1400002606 xx1400002604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 168 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 169 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 170 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 171: Replacing The Axis-7 Motor
It is recommended to exchange the complete arm in case of a broken axis-7 motor. Replacing the complete arm on page 130 The axis-7 motor can be replaced by ABB, contact your local ABB for more information. Product manual - IRB 14000 3HAC052983-001 Revision: D ©...
Page 172: Replacing The Axis-3 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 173 Cleaning agent Isopropanol Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 174 This figure shows an overview of which covers to remove to get access to the spare part. Detailed instructions of how to remove the covers are found in the removal procedure. xx1400002862 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 175 Removing the axis-3 motor Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 177 Fitting a new o-ring on the motor Action Note Wipe the o-ring groove of the motor clean. Motor M92: 3HAC036900-001. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 178 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 4, axis 5 and axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 179 Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 4, axis 5 and axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 180 Axis 4, axis 5 and axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 181 - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 4, axis 5 and axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 182 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used! Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 183 Correct cable routing is highly important. If the cables are routed and secured incor- rectly the cables can be damaged. xx1500000573 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 184 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 185: Replacing The Axis-4 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 186 This figure shows an overview of which covers to remove to get access to the spare part. Detailed instructions of how to remove the covers are found in the removal procedure. xx1400002863 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 187 Remove the lower axis-3 cover. xx1400002751 Remove the lower axis-4 cover. xx1400002756 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 188 Remove the upper axis-3 cable bracket. xx1400002757 Disconnect the motor connectors. • R1.MP4R / R1.MP4L • R1.FB4R / R1.FB4L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 189 Axis 1, axis 2, axis 7, axis 3. xx1500000515 Axis 4, axis 5 and axis 6. xx1500001651 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 190 Wipe the contact surfaces of the motor and wave generator clean from any contamination with cleaning agent applied on a cloth or paper. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 191 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 4, axis 5 and axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 192 Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 4, axis 5 and axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 193 Axis 4, axis 5 and axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 194 - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 4, axis 5 and axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 195 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used! Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 196 • R1.FB4R / R1.FB4L Refit the upper axis-3 cable bracket. Screws: 3HAB3409-233 (2 pcs). Tightening torque: 0.3 Nm. xx1400002757 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 197 Tightening torque: 0.14 Nm. xx1400002755 Refit the axis-3 body cover. Screws: 3HAC050368-005 (2 pcs). Tightening torque: 0.14 Nm. xx1400002754 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 198 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 199: Replacing The Axis-5 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 200 Use these procedures to remove the axis-5 motor. Preparations before removing the motor Action Note Jog the robot so that the wrist cover points upward. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 201 R1.FB5R / R1.FB5L CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used! Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 202 Axis 1, axis 2, axis 7, axis 3. xx1500000515 Axis 4, axis 5 and axis 6. xx1500001651 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 203 Wipe the contact surfaces of the motor and wave generator clean from any contamination with cleaning agent applied on a cloth or paper. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 204 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 4, axis 5 and axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 205 Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 4, axis 5 and axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 206 Axis 4, axis 5 and axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 207 - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 4, axis 5 and axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 208 Check the PTFE film. PTFE film on axis-5 and axis-6 motors: 3HAC051316-001 Replace if damaged. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 209 Screws: 3HAC050367-039 (2 pcs). Tightening torque: 0.2 Nm. xx1400002790 Reconnect the motor connectors. • R1.MP5R / R1.MP5L • R1.FB5R / R1.FB5L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 210 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 211: Replacing The Axis-6 Motor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 212 Use these procedures to remove the the axis-6 motor. Preparations before removing the motor Action Note Jog the robot so that the wrist is easily ac- cessed. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 213 Remove the wrist cover. Rotate axis 5 manually so that all screws can be ac- cessed. xx1400002760 Remove the lower axis-4 cover. xx1500000360 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 214 Remove the upper axis-4 cover. xx1500001735 Remove the screws for the inner part of the cooling flange. xx1400002867 xx1500000602 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 216 Place the wave generator on a clean workbench, if not instantly fitting it to a new motor. CAUTION Keep the wave generator clean. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 217 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 4, axis 5 and axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 218 Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 4, axis 5 and axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 219 Axis 4, axis 5 and axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 220 - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 4, axis 5 and axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 221 Check the PTFE film. PTFE film on axis-5 and axis-6 motors: 3HAC051316-001 Replace if damaged. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 222 Screws: 3HAC050367-039 (2 pcs). Tightening torque: 0.2 Nm. xx1500000542 Reconnect the motor connectors. • R1.MP6R / R1.MP6L • R1.FB6R / R1.FB6L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 223 Refitting the covers Action Note Refit the cooling flange. Screws: 3HAC050368-005 (3 pcs). Tightening torque: 0.2 Nm. xx1500000602 xx1400002867 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 224 Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1500000360 Refit the axis-6 cover. Screws: 3HAC050368-005 (3 pcs). Tightening torque: 0.2 Nm. xx1400002760 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 225 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 226: Hall Sensors
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 227 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 228 Remove the body cover top screws. xx1400002904 Remove the body cover. xx1500000303 Remove the back screws of the lower body cover. xx1500000540 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 229 Make sure that all supplies for electrical power and air pressure are turned off. Remove the upper axis-1 cover. xx1400002601 xx1400002605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 230 4.5.1 Replacing the axis-1 hall sensor Continued Action Note Remove the upper screws of the lower axis- 1 cover. xx1500000565 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 231 Turn the lower axis-1 cover in order to ac- cess all screws properly and remove the lower axis-1 cover. xx1400002604 xx1400002606 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 232 Removing the axis-1 hall sensor Action Note Turn on the power to the robot temporarily. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 233 Turn off the electric power supply again. Remove the cable bracket. xx1500000510 Disconnect the hall sensor connector P3. xx1500000418 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 234 Refit the hall sensor with the screws and Hall sensor with attachment for axis 1: washers. 3HAC052445-001. Screws: 3HAB3409-241 (2pcs). Tightening torque: 0.8 Nm. xx1500000419 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 235 Temporarily turn on the power to the robot and release the brakes. xx1500000412 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 236 Note Refit the lower axis-2 cover. Screws: 4 pcs. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1500000087 xx1400002612 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 237 Refit the lower axis-1 cover. Screws: 3HAC050368-005. (4 pcs) Nuts: 9ADA267-1. (4 pcs) Tightening torque: 0.14 Nm. xx1400002606 xx1400002604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 238 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 239 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 240 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 241: Replacing The Axis-2 Hall Sensor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 242 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 243 4.5.2 Replacing the axis-2 hall sensor Continued Action Note Remove the axis-7 cover. xx1400002691 Remove the lower axis-2 cover. xx1400002614 xx1400002615 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 244 Gently pull out the hall sensor interface board (HSIB). Disconnect the hall sensor connector P3. xx1500000259 Remove the hall sensor by removing the screw. xx1500000260 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 245 Tightening torque: 0.8 Nm. xx1500000260 Connect the hall sensor connector P3. Put back the hall sensor interface board (HSIB) in place. xx1500000259 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 246 Tightening torque: 0.14 Nm. xx1500000256 Refit the lower axis-2 cover. Screws: 3HAC050367-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002615 xx1400002614 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 247 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 248: Replacing The Axis-7 Hall Sensor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 249 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 250 Removing the axis-7 hall sensor Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 251 Remove the cable bracket by removing the two screws. xx1500000508 Remove the hall sensor by removing the two screws and washers. xx1500000462 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 252 Put back the hall sensor interface board (HSIB) in place. xx1500000509 Refit the cable bracket. Screws: 3HAB3409-233 (2 pcs). Tightening torque: 0.8 Nm. xx1500000508 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 253 Screws: 3HAC050367-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002691 Concluding procedure Action Note Recalibrate the robot. Calibration on page 417. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 254 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 255: Replacing The Axis-3 Hall Sensor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 256 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 257 Remove the lower axis-4 cover. xx1400002756 Remove the axis-3 body cover. xx1500000091 Remove the upper axis-3 cover. xx1500000093 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 258 (HSIB). Disconnect the hall sensor connector P3. xx1500000512 Remove the hall sensor by removing the screw and washer. xx1500000513 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 259 Put back the HSIB in place. xx1500000512 Refit the cable bracket. Screws: 3HAB3409-233 (2 pcs). Tightening torque: 0.8 Nm. xx1500000559 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 260 Tightening torque: 0.14 Nm. xx1500000091 Refit the lower axis-4 cover. Screws: 3HAC050367-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002756 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 261 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 262: Replacing The Axis-4 Hall Sensor
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 263 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 264 Remove the outer axis-4 cable protection. xx1500000496 Remove the screw that fastens the halves of the inner axis-4 cable protection togeth- xx1500000560 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 265 Gently pull out the hall sensor interface board (HSIB). Disconnect the hall sensor connector P3. xx1500000498 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 266 Refit the hall sensor with the screws and Hall sensor with attachment for axis 4: washers. 3HAC052450-001 Screws: 3HAB3409-241 (1 pc). Tightening torque: 0.4 Nm. xx1500000499 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 267 Put the two halves of the inner axis-4 cable protection together around the axis and lock them with the latch. xx1500000497 xx1500000562 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 268 Tightening torque: 0.14 Nm. xx1500000496 Refit the upper axis-4 cover. Screws: 3HAC050367-005 (4 pcs). Tightening torque: 0.14 Nm. xx1500000095 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 269 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 270: Mechanical Stops
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 271 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 272 Make sure that all supplies for electrical power and air pressure are turned off. Remove the upper axis-1 cover. xx1400002601 xx1400002605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 273 4.6.1 Replacing the axis-1 mechanical stop Continued Action Note Remove the upper screws of the lower axis- 1 cover. xx1500000565 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 274 Temporarily turn on the power to the robot and release the brakes. xx1500000412 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 275 Turn off the electric power supply again. Remove the mechanical stop by removing the two screws and washers. xx1500000738 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 276 Temporarily turn on the power to the robot and release the brakes. xx1500000412 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 277 Refit the lower axis-1 cover. Screws: 3HAC050368-005. (4 pcs) Nuts: 9ADA267-1. (4 pcs) Tightening torque: 0.14 Nm. xx1400002606 xx1400002604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 278 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 279 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 280 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 281: Replacing The Axis-2 Mechanical Stop
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 282 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 283 4.6.2 Replacing the axis-2 mechanical stop Continued Action Note Remove the axis-7 cover. xx1400002691 Remove the lower axis-2 cover. xx1400002614 xx1400002615 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 284 DANGER Turn off the electric power supply again. Remove the two screws and remove the cable collar. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 285 Refit the mechanical stop with the screws Mechanical stop for axis 2: 3HAC047602- and washers. Screws: 3HAB3409-241 (2 pcs). Tightening torque: 0.4 Nm. xx1500000488 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 286 Refitting the covers Action Note Refit the axis-2 cable cover. Screws: 3HAC050368-005 (5 pcs). Tightening torque: 0.14 Nm. xx1500000256 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 287 Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002691 Concluding procedure Action Note Recalibrate the robot. Calibration on page 417. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 288 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 289: Replacing The Axis-7 Mechanical Stop
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 290 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 291 Removing the axis-7 mechanical stop Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 292 Refitting the covers Action Note Refit the axis-7 inner cable protection. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1500000743 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 293 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 294: Replacing The Axis-3 Mechanical Stop
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 295 • electric power supply • air pressure supply to the robot, before starting the repair work on the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 296 Remove the lower axis-4 cover. xx1400002756 Remove the axis-3 body cover. xx1500000091 Remove the upper axis-3 cover. xx1500000093 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 297 Make sure that all supplies for electrical power and air pressure are turned off. Turn on the power to the robot temporarily. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 298 Turn off the electric power supply again. Remove the mechanical stop by removing the two screws and washers. xx1500000753 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 299 Temporarily turn on the power to the robot and release the brakes. xx1500000489 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 300 Tightening torque: 0.14 Nm. xx1500000091 Remove the lower axis-4 cover. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002756 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 301 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 302 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 303: Product Manual - Irb
WARNING - The unit is sens- itive to ESD! on page 55 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 304 Removing the computer Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 305 Disconnect the connection (underneath com- puter): A35.J1 D-NET Tilt the computer out and remove it from the con- troller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 306 Fasten the cabling with cable ties. CAUTION Be careful not to bend or break the cables and air hoses. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 307 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Connect the grounding cable. xx1500000601 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 308 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 309 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 310: Replacing The Controller Fan
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 311 Remove the bottom cover. CAUTION Be careful not to damage the cables. xx1500000310 Disconnect the fan connector: • E1.XS1 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 312 Refitting the fan Use this procedure to refit the fan. Refitting the fan Action Note Connect the fan connector. • E1.XS1 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 313 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 314: Replacing The Capacitor Bank
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 315 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 316 Disconnect the capacitor bank connector, cut cable ties if necesssary: • PDB.X7 xx1500000307 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 317 Place the new capacitor bank and tighten the at- Capacitor bank: 3HAC025562-001 tachment screws. Screws: M5x8 8.8-A2F (4 pcs). Tightening torque: 0.8 Nm xx1500000305 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 318 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 319 Connect the grounding cable. xx1500000601 Refit the body cover with the attachment Screws: 3HAC052487-001 (6 pcs). screws. Tightening torque: 0.9 Nm xx1500000697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 320 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 321: Replacing The Power Supply
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 322 Be careful not to damage the cables. xx1500000268 Remove the plastic covers on the connectors on the side of the power supply. xx1500000286 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 323 Connect the cables on the side of the power sup- ply. • G1.SK2 • G1.(-) • G1.(+) • G1.N • G1.L • Fasten the cables with cable ties. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 324 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 325: Replacing The Power Distribution Board
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 326 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 327 G2.XS2 (X2) • G2.XS1 (X1) • G2.XS3 (X3) • G2.XS6 (X6) • G2.XS5 (X5) • G2.XS7 (X7) • G2.XS4 (X4) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 328 G2.XS5 (X5) • G2.XS7 (X7) • G2.XS4 (X4) Put two cable ties around the plate and the G2.X8 connector. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 329 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Connect the grounding cable. xx1500000601 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 330 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 331 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 332: Replacing The External Power Distribution Board
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 333 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 334 Removing the external power distribution board Action Note Disconnect the connector G2.1.X1. Remove the attachment screws. xx1500000400 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 335 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 336 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 337 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 338: Replacing The Axis Computer
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 339 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 340 WARNING - The unit is sensitive to ESD! on page 55 Disconnect the connectors: • A42.X4 (X4 Measurement link 1) • A42.X5 (X5 Measurement link 2) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 341 Use this procedure to refit the axis computer. Refitting the axis computer Action Note Connect the connector: • A42.XS1 (X1, underneath) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 342 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 343 Connect the grounding cable. xx1500000601 Refit the body cover with the attachment Screws: 3HAC052487-001 (6 pcs). screws. Tightening torque: 0.9 Nm xx1500000697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 344 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 345: Replacing The Left Arm's Drive Board
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 346 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 347 Make sure that all supplies for electrical power and air pressure are turned off. Disconnect the battery connector (X3) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 348 Left side: • A5X.XS11 • A5X.XS12 • A5X.XS17 • A5X.XS13 Right side: • A5X.XS14 xx1500000368 • A5X.XS15 • A5X.XS16 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 349 Refitting the left arm's drive board Action Note Fit the battery packs from the old drive board onto the new drive board. xx1500002101 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 350 Left side: • A5X.XS11 • A5X.XS12 • A5X.XS17 • A5X.XS13 Right side: • A5X.XS14 xx1500000368 • A5X.XS15 • A5X.XS16 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 351 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 352 Connect the grounding cable. xx1500000601 Refit the body cover with the attachment Screws: 3HAC052487-001 (6 pcs). screws. Tightening torque: 0.9 Nm xx1500000697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 353 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 354: Replacing The Right Arm's Drive Board
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 355 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 356 Right side: • A5X.XS11 • A5X.XS12 • A5X.XS17 • A5X.XS13 Left side: xx1500000428 • A5X.XS14 • A5X.XS15 • A5X.XS16 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 357 Refitting the right arm's drive board Action Note Gently push the new drive board into the bracket. DSQC 462 Drive board: 3HAC047960-001 xx1500000433 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 358 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 359 Connect the grounding cable. xx1500000601 Refit the body cover with the attachment Screws: 3HAC052487-001 (6 pcs). screws. Tightening torque: 0.9 Nm xx1500000697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 360 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 361: Replacing The I/O Board
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 362 Removing the I/O connectors Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 363 Refitting the I/O board Action Note Snap on the I/O board to the mounting rail. Digital 24V I/O DSQC 652: 3HAC025917-001 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 364 Tightening torque: 0.9 Nm xx1500000303 Refit the attacment screws. Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 365 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 366: Replacing The Smb Boards
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 367 Removing the I/O board Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 368 Make sure that all supplies for electrical power and air pressure are turned off. Disconnect the battery connector (X3) Remove two attachment screws. xx1500000417 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 369 3HAC048550-001 xx1500000422 Tighten two attachment screws on the side. Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000420 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 370 Action Note Refit the body cover with the attachment Screws: 3HAC052487-001 (8 pcs) screws. Tightening torque: 0.9 Nm xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 371 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 372: Replacing The Ethernet Switch
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 373 Disconnect the connectors (cut cable ties if neces- sary): • A33.X2 (X2) • A33.X3 (X3) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 374 Gently push the holder latches into the recesses. Tighten two attachment screws. xx1500000424 Connect the connectors: • A33.X2 (X2) • A33.X3 (X3) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 375 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 376: Replacing The Mass Memory Card
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 377 Gently push the memory card until it clicks and then pull the card straight out. xx1300000807 Slot for memory card Mass memory card Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 378 Refit the bottom cover and tighten the screws. Screws: M3x6 8.8-A2F (4 pcs). Tightening torque: 0.2 Nm CAUTION Be careful not to damage the cables. xx1500000310 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 379: Replacing The Expansion Board Complete
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 380 WARNING - The unit is sens- itive to ESD! on page 55 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 381 Removing the computer Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 382 Disconnect the connection (underneath com- puter): A35.J1 D-NET Tilt the computer out and remove it from the con- troller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 383 Note Do not remove the attachment screws, only loosen them. xx0700000193 A Attachment screw (2 pcs) B Fastening mechanism Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 384 CAUTION Be careful not to stretch the fan cable. xx1300000684 Attachment screw (4 pcs) Cover Disconnect the fan connector. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 385 Refitting the expansion board complete Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 388 Action Note Fit the computer. DSQC1000 Computer: 3HAC042766-001 Connect the and tighten the connector (under- neath computer) A35.J1 D-NET Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 389 Fasten the cabling with cable ties. CAUTION Be careful not to bend or break the cables and air hoses. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 390 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Connect the grounding cable. xx1500000601 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 391 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 392 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 393: Replacing The Devicenet Master
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 394 WARNING - The unit is sens- itive to ESD! on page 55 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 395 Removing the computer Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 396 Disconnect the connection (underneath com- puter): A35.J1 D-NET Tilt the computer out and remove it from the con- troller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 399 Be careful not to stretch or squeeze the fan cable. Fasten the computer cover with its attachment screws. xx1300000684 Attachment screw (4 pcs) Cover Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 400 (Depending on which connection is installed) Connect the connector: • Profibus/S: A32.2 • Ethernet/IP/S: A32.1 • ProfiNet/S: A32.3 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 401 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 402 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 403 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 404: Replacing The Fieldbus Adapter
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 405 WARNING - The unit is sensitive to ESD! on page 55 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 406 A Attachment screw (2 pcs) B Fastening mechanism Grip the loosened attachment screws and gently pull the fieldbus adapter straight out. xx1500001755 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 407 Push carefully so no pins are damaged. Fasten the fieldbus adapter with its attachment screws. xx0700000193 Attachment screw (2 pcs) Fastening mechanism Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 408 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 409: Brake Release Harness
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest revision of Product manual, spare parts - IRB 14000 on ABB Library. Spare part Article number Note...
Page 410 WARNING - The unit is sens- itive to ESD! on page 55 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 411 Make sure that all supplies for electrical power and air pressure are turned off. Disconnect the brake release harness connector. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 412 Brake release harness, through the mounting hole. 3HAC038361-001 CAUTION Be careful not to bend or break the cables. xx1500000746 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 413 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 414 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 415 These are further detailed in the section DANGER - First test run may cause injury or damage! on page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 416 This page is intentionally left blank...
Page 417: Calibration
If the robot has absolute accuracy calibration, it needs to be calibrated for new absolute accuracy. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 418: Calibration Method
Under this condition, all the seven joints' positions are pre-determined, and all of the axes can be calibrated at the same time. The fine calibration method is used for all IRB 14000 robots and is the recommended method in order to achieve proper performance.
Page 419: Calibration Scale And Correct Axis Position
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 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 420: Calibrating The Robot
IRB 14000 ROB_R IRB 14000 ROB_L 0° 0° -130° -130° 30° 30° 0° 0° 40° 40° 0° 0° -135° 135° Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 421 Select Debug and tap PP to Main. Select Debug and tap Call Routine... Select CalHall. Go to Motor On and press the Start button. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 422 Action In the calibration with hall sensors routine (CalHall), tap 1 to select the function of fine calibration. xx1400002694 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 423 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. xx1500000658 xx1500000659 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 424 Calibration order: axis 1-2-3-4-5-6-7. Note This procedure may take several minutes. xx1400002697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 425 5.4 Calibrating the robot Continued Action When the sampling of hall sensors is finished, tap OK to confirm. xx1400002898 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 426 Moving the robot to its calibration position on page 421 Running the fine calibration procedure on page 424 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 427 5 Calibration 5.4 Calibrating the robot Continued After calibration Action Note Refit any tools or customer cables previously re- moved from the arm. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 428: Updating Revolution Counters
Select Debug and tap PP to Main. Select Debug and tap Call Routine... Select CalHall. Go to Motor On and press the Start button. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 429 In the calibration with hall sensors routine (CalHall), tap 2 to select the function of updating the revolution counters. xx1400002694 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 430 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 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 431 Calibration order: axis 1-2-3-4-5-6-7. Note This procedure may take several minutes. xx1400002697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 432 5.5 Updating revolution counters Continued Action When the sampling of hall sensors is finished, tap OK to confirm. xx1400002898 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 433 (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. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 434: Calibration Movement Directions For All Axes
Positive directions are shown in the graphic below. This is normally handled by the robot calibration software. Calibration movement directions, 7 axes xx1500000254 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 435: Verifying The Calibration Position
Calibration scale and correct axis pos- axes align correctly. If they do not, then ition on page 419 Updating revolution update the revolution counters! counters on page 428. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 436 This page is intentionally left blank...
Page 437: Decommissioning
These parts must also be disposed of in accordance with the current legislation of the country in which the robot and control unit are installed. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 438: Environmental Information
Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 439: Scrapping Of Robot
• When motors are removed from the robot, the robot will collapse if it is not properly supported before the motor is removed. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 440 This page is intentionally left blank...
Page 441: Reference Information
7 Reference information 7.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 442: Applicable Safety Standards
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...
Page 443 Safety requirements for industrial robots and robot systems ANSI/UL 1740 Safety standard for robots and robotic equipment CAN/CSA Z 434-14 Industrial robots and robot Systems - General safety require- ments Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 444: Unit Conversion
2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 445: Specification Of Screws
Torx pan head screw M3x10 8.8-A2F 9ADA624-45 Torx pan head screw M5x16 8.8-A2F 9ADA267-1 M2 DIN934 8 ELZN 9ADA267-4 M4 Steel 8-A2F Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 446 7 Reference information 7.4 Specification of screws Continued Article number Screw Dimension, class and treatment 9ADA267-5 M5 Steel 8-A2F Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 447: Screw Joints
UNBRAKO screws UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It features special surface treatment (Gleitmo as described below) and is extremely resistant to fatigue.
Page 448: Weight Specifications
All components exceeding 22 kg (50 lbs) are highlighted in this way. To avoid injury, ABB recommends the use of a lifting accessory when handling components with a weight exceeding 22 kg. A wide range of lifting accessories and devices are available for each manipulator model.
Page 449: Standard Toolkit
Screw bit (4mm--1/4''(BALL HEAD) ) Wrench 7mm Wrench 8mm The standard torque screwdriver should be calibrated to the torque value specified in the repair procedures, in advance. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 450: Special Tools
If the replacing procedure is not listed in the table below, only standard tools are needed for the procedure. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 451 Fixtures Fixture tool for wave generator 3HAC054870-001 Fixture tool for wave generator 3HAC054871-001 Fixture tool for wave generator 3HAC054904-001 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 452: Lifting Accessories And Lifting Instructions
This implies that the instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 453: Index
438 motor, axis-7 replacing, 171 damage elimination, 55 motor, axis-6 sensitive equipment, 55 replacing, 211 wrist strap connection point, 55 motor, axis-5 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 454 EN, 443 axis-7, 171 EN IEC, 442 axis-6, 211 EN ISO, 442 axis-5, 199 safety, 442 axis-4, 185 states axis-3, 172 emergency stop, 41 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 455 USB port safety, 44 FlexPendant, 106 temperatures validity and responsibility, 19 operation, 62 storage, 62 testing weight, 61 brakes, 35 robot, 69, 72, 448 Product manual - IRB 14000 3HAC052983-001 Revision: D © Copyright 2015 - 2016 ABB. All rights reserved.
Page 458 Telephone +46 (0) 21 344 400 ABB AS, Robotics Discrete Automation and Motion Nordlysvegen 7, N-4340 BRYNE, Norway Box 265, N-4349 BRYNE, Norway Telephone: +47 51489000 ABB Engineering (Shanghai) Ltd. No. 4528 Kangxin Highway PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 www.abb.com/robotics...

ABB IRB 14000 Product Manual

2 Installation and Commissioning

3 Maintenance

4 Repair

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