ABB IRB 1410 Product Manual
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ABB IRB 1410 Product Manual

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Summary of Contents for ABB IRB 1410

  • Page 1 ROBOTICS Product manual IRB 1410...
  • Page 2 Trace back information: Workspace R18-2 version a18 Checked in 2018-11-20 Skribenta version 5.3.012...
  • Page 3 Product manual IRB 1410 IRC5 Document ID: 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved. Specifications subject to change without notice.
  • 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

    2.5.2.2 Connection of extra equipment to the manipulator ......Start of robot in cold environments ..............Maintenance Introduction ...................... Maintenance schedule ..................3.2.1 Specification of maintenance intervals ............3.2.2 Maintenance schedule ................Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 6 Calibration methods ................... Synchronization marks and synchronization position for axes ........Calibration movement directions for all axes ............Updating revolution counters ................Checking the synchronization position ..............Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 7 Standard tools ....................Special tools ....................Lifting equipment and lifting instructions ..............Spare part list Spare part lists and illustrations ................Circuit diagram Circuit diagrams ....................Index Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
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  • Page 9: Overview Of This Manual

    ABB and have the required knowledge of mechanical and electrical installation/repair/maintenance work. Product manual scope The manual covers covers all variants and designs of the IRB 1410. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
  • Page 10 Procedures in this product manual contain references to the following manuals: Document name Document ID Note Product specification - IRB 2400 3HAC042195-001 M2004 Product manual, spare parts - IRB 1410 3HAC049103-001 Operating manual - General safety information 3HAC031045-001 M2004 Circuit diagram - IRB 1410 3HAC2800-3...
  • Page 11 • Added section for inspection of labels in maintenance chapter. Published in release R18.2. The following updates are made in this revision: • Reference updated. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 12: How To Read The Product Manual

    Likewise, certain work methods or general information that is valid for several robot models, can be illustrated with illustrations that show a different robot model than the one that is described in the current manual. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 13: Product Documentation, M2000/M2000A

    A complete listing of all available software manuals is available from ABB. Controller hardware option manual Each hardware option for the controller is supplied with its own documentation.

  • Page 14: Product Documentation

    Product documentation Categories for user documentation from ABB Robotics The user documentation from ABB Robotics is divided into a number of categories. This listing is based on the type of information in the documents, regardless of whether the products are standard or optional.
  • Page 15 The operating manuals describe hands-on handling of the products. The manuals are aimed at those having first-hand operational contact with the product, that is production cell operators, programmers, and troubleshooters. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
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  • Page 17: Safety

    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. The information does not cover how to design, install and operate a complete system, nor does it cover all peripheral equipment that can influence the safety of the entire system.
  • Page 18 Unauthorized modifications of the originally delivered robot are prohibited. Without the consent of ABB, it is forbidden to attach additional parts through welding, riveting, or drilling of new holes into the castings. The strength of the robot could be affected.

  • Page 19: Protective Stop And Emergency Stop

    1.1.2 Protective stop and emergency stop 1.1.2 Protective stop and emergency stop Overview The protective stops and emergency stops are described in the product manual for the controller. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 20: Safety Actions

    1.2 Safety actions 1.2.1 Fire extinguishing Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the manipulator or controller. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 21: Emergency Release Of The Robot Axes

    When releasing the holding brakes, the robot axes may move very quickly and sometimes in unexpected ways. Make sure no personnel is near or beneath the robot. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 22: Make Sure That The Main Power Has Been Switched Off

    To avoid these personal injuries, switch off the main power on the controller before proceeding work. Note Switch off all main power switches in a MultiMove system. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 23: Safety Risks

    Corrective maintenance must only be carried out by qualified personnel who are familiar with the entire installation as well as the special risks associated with its different parts. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 24 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.

  • Page 25: Moving Robots Are Potentially Lethal

    The hold-to-run function is used in manual mode, not in automatic mode. Make sure no personnel are present within the working range of the robot before pressing the start button. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 26: First Test Run May Cause Injury Or Damage

    If maintenance or repair has been done, pay special attention to the function of the part that was serviced. Collision risks CAUTION When programming the movements of the robot, always identify potential collision risks before the first test run. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 27: Work Inside The Working Range Of The Robot

    Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 28: Enabling Device And Hold-To-Run Functionality

    How to operate the hold-to-run function for S4Cplus is described in User’s guide - S4Cplus (BaseWare OS 4.0). How to operate the hold-to-run function for IRC5 is described in Operating manual - IRC5 with FlexPendant. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 29: Risks Associated With Live Electric Parts

    Units such as I/O modules, can be supplied with power from an external source. • The main supply/main switch • The transformers • The power unit Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 31: The Unit Is Sensitive To Esd

    The mat must be grounded through a current-limit- ing resistor. Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 32: 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. Do not put anything on hot metal surfaces, e.g. paper or plastic. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 33: Safety Risks Related To Pneumatic/Hydraulic Systems

    Gravity may cause any parts or objects held by these systems to drop. Dump valves should be used in case of emergency. Shot bolts should be used to prevent tools, etc., from falling due to gravity. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 34: 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 35: Safety Risks During Handling Of Batteries

    Risk of fire or explosion. Operating temperatures are listed in Pre-installation procedure on page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 36: Safety Risks During Work With Gearbox Lubricants (Oil Or Grease)

    Possible pressure build-up in gearbox Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 37 The magnetic oil plugs will take Contaminated oil in care of any remaining metal gear boxes chips. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 38: Safety Signals And Symbols

    ELECTROSTATIC Warns for electrostatic hazards which could result DISCHARGE (ESD) in severe damage to the product. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 39 Symbol Designation Significance NOTE Describes important facts and conditions. Describes where to find additional information or how to do an operation in an easier way. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 40: Safety Symbols On Product Labels

    Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 41 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 42 Tip risk when loosening bolts The robot can tip over if the bolts are not securely fastened. xx0900000810 xx1500002402 Crush Risk of crush injuries. xx0900000817 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 43 Risk of heat that can cause burns. (Both signs are used) xx0900000818 xx1300001087 Moving robot The robot can move unexpectedly. xx0900000819 xx1000001141 xx1500002616 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 44 Lifting of robot xx0900000822 Can be used in combination with prohibition if oil is not allowed. xx0900000823 Mechanical stop xx0900000824 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 45 Shut off with handle 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
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  • Page 47: Installation And Commissioning

    Safety on page 17 before performing any installation work. Note If the IRB 1410 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 48: Unpacking

    It also contains information useful during later re-installation of the robot. Prerequisites for installation personnel 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 49 If resolver/encoder calibration is changed this will influence the absolute accuracy. Maximum tilt 55° Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 50 The table shows the available protection types of the robot, with the corresponding protection class. Protection type Protection class Manipulator, protection type Standard IP 54 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 51: Amount Of Space Required

    The working range for axis 1 is +/- 170°. CAUTION There are no software or mechanical limits for the working space under the base of the manipulator. xx1400000074 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 52: Risk Of Tipping/Stability

    Do not change the robot position before securing it to the foundation! WARNING The robot is likely to be mechanically unstable if not secured to the foundation. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 53: Transport Locking Device

    2.2.4 Transport locking device 2.2.4 Transport locking device Manipulator At delivery, axis 2 (= lower arm) is equipped with a transport locking device, see figure. xx1400000072 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 54: On-Site Installation

    Attach the straps to the special eye bolts on the gearboxes for axes 2 and 3. Lift the robot carefully. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 55: Manually Releasing The Brakes

    Be careful not to interchange the 24 VDC and 0V pins! If they are mixed up, damage can be caused to a resistor diode and to the system board. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 56 +24 V on pin B8 • 0 V on pin C10 xx0200000167 Release the brakes with the brake release unit as detailed in the previous procedure. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 57: Orienting And Securing The Robot

    Ø 0.5 B - B D = 18.5 (2x) +0.039 D = 35 H8 (2x) Ø 0.25 A - A xx1700000286 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 58 Two guide sleeves can be fitted to the two rear bolt holes to allow the same robot to be remounted without re-adjusting the program. Equipment Art. no. Guide sleeves 2151 0024-169 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 59: Loads Fitted To The Robot, Stopping Time And Braking Distances

    The performance of the motor brake depends on if there are any loads attached to the robot. For more information, see product specification for the robot. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 60: Installation Of Signal Lamp (Option)

    2 Installation and commissioning 2.3.5 Installation of signal lamp (option) 2.3.5 Installation of signal lamp (option) Signal lamp See the assembly instruction delivered with the signal lamp. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 61: Restricting The Working Range

    Instructions for necessary machining and mounting are supplied with the kit. CAUTION The original stop lug must never be removed. xx0200000481 Extra stop lug for axis 1 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 62 20°. (20° = 1 lug, 40° = 2 lugs, etc.) Instructions for doing this are supplied with the kit. xx0200000482 Lower arm Extra stop lug for axis 2 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 63 (see Figure 13). Axis 3 is limited upwards to 0 or -10 degrees above the horizontal plane. Instructions for doing this are supplied with the kit. xx0200000483 Extra Stop Lug for limiting Axis 3 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 64: Electrical Connections

    Description 3HAC2493-1 Control cable signal L=7m 3HAC2530-1 Control cable signal L=15m 3HAC2540-1 Control cable signal L=22m 3HAC2566-1 Control cable signal L=30m Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 65 Robot cable signal, shielded: 30 m Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables. xx1600002016 Diameter Diameter x10 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 66: Customer Connections

    To connect power and signal conductors to the manipulator base and to the upper arm connectors, the following parts are recommended: • ABB’s recommended contact set, for connector R2.CS, has Art. No. 3HAC 12583-1 • ABB’s recommended contact set, for connector R1.CS, has Art. No. 3HAC 12493-1.
  • Page 67 2 Installation and commissioning 2.5.2.1 Air supply and signals for extra equipment to upper arm Continued • Shrinking hose, bottled shaped • Shrinking hose, angled xx0200000478 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 68: Connection Of Extra Equipment To The Manipulator

    XT5.6 R2.CS.F R1.CS.F XT5.7 R2.CS.G R1.CS.G XT5.8 R2.CS.H R1.CS.H XT5.9 R2.CS.J R1.CS.J XT5.10 R2.CS.K R1.CS.K XT5.11 R2.CS.L R1.CS.L XT5.12 R2.CS.M R1.CS.M Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 69 2.5.2.2 Connection of extra equipment to the manipulator Continued Connection of signal lamp on upper arm (option) Signallamp R2.CS R3.H1 + / R3.H2 - xx0200000480 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 70: Start Of Robot In Cold Environments

    If the program consists of large wrist movements, it is possible that the reorientation velocity, which is always high in predefined velocities, needs to be included in the ramping up. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 71: Maintenance

    Safety on page 17 before performing any service work. Note If the IRB 1410 is connected to power, always make sure that the IRB 1410 is connected to protective earth before starting any maintenance work. For more information see: •...

  • Page 72: 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 1410: • Calendar time: specified in months regardless of whether the system is running or not.

  • Page 73: Maintenance Schedule

    The recommendation to avoid an unsynchronized robot is to keep the power to the controller turned on until the battery is to be replaced. See the replacement instruction for more details. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 74: Changing Activities

    Before starting any inspection, maintenance, or changing activities of lubrication, always contact the local ABB Service organization for more information. For ABB personnel: Always check ABB Library for the latest revision of the manual Technical reference manual - Lubrication in gearboxes, in order to always get the latest information of updates about lubrication in gearboxes.
  • Page 75 Includes pump with outlet pipe. Use the suggested dispenser or a similar one: • Orion OriCan article number 22590 (pneumatic) Nipple for quick connect fitting, with o-ring Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 76: Replacement Of Smb Battery

    The SMB battery unit is located inside the robot base, as shown in the figure below. xx1300002448 SMB connection SMB battery RMU Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 77 The unit is sensitive to ESD. Before handling the unit please read the safety information in the section The unit is sensitive to ESD on page 31 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 78 Spare part no. is specified in Required equipment on page Update the revolution counters! Detailed in the section Updating revolu- tion counters on page 132. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 79: Inspection Activities

    The figure shows the location of the information labels to be inspected. xx1800001453 ABB logotype Rating label UL/UR label Instruction plate - High temperature (3 pcs) Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 80 Check all labels. See the figure in Location of information labels on page Replace any missing or damaged labels. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 81: Lubrication Activities

    Nipple, axis 5 Grease is Energrease LS-EP2 S or equivalent. Lubricating spring brackets There are four lubrication places, located over and under the two balancing springs. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 82: Cleaning Activities

    General To secure high uptime it is important that the IRB 1410 is cleaned regularly. The frequency of cleaning depends on the environment in which the product works. Different cleaning methods are allowed depending on the type of protection of the IRB 1410.
  • Page 83 3.6.1 Cleaning the IRB 1410 Continued Cleaning with water and steam Instructions for rinsing with water ABB robots with protection types Standard, Foundry Plus, Wash, or Foundry Prime can be cleaned by rinsing with water (water cleaner). The following list defines the prerequisites: •...
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  • Page 85: Repair

    Make sure to read through the chapter Safety on page 17 before commencing any service work. Note If the IRB 1410 is connected to power, always make sure that the IRB 1410 is connected to earth before starting any repair work. For more information see: •...

  • Page 86: General Procedures

    Spray any suspected leak areas with the leak detec- tion spray. Bubbles indicate a leak. When the leak has been localized, take the necessary measures to correct the leak. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 87: Mounting Instructions For Bearings

    Make sure the bearing is properly aligned as this will directly affect the durab- ility of the bearing. Greasing of bearings Note This instruction is not valid for solid oil bearings. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 88 Grooved ball bearings must be filled with grease from both sides. • Tapered roller bearings and axial needle bearings must be greased in the split condition. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 89: Mounting Instructions For Seals

    Never hammer directly on the seal as this may result in leakage. Make sure no grease left on the robot surface. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 90 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 91: Cut The Paint Or Surface On The Robot Before Replacing Parts

    Carefully grind the paint edge that is left on the structure to a smooth surface. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 92: Checking For Play In Gearboxes And Wrist

    The brakes are disengaged by pressing the enable button on the FlexPendant. Note The play in the brake disk does not affect the robot motion or accuracy. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 93: Axis 1

    Tighten screws using a torque of 8.3 Nm ±10%. See foldout/pos. <1/10> Connect the cabling. Calibrate the robot as specified. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 94: Replacing The Axis-1 Gearbox

    See foldout/pos. <1/5> and <1/7> Turn the foot. Refit the lower arm. Described in section: Replacing the lower arm on page 101 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 95 Refit the balancingd springs. Described in section: Replacing the balancing springs on page 103 Calibrate the robot. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 96: Replacing The Position Indicator (Optional)

    Route the new cabling through the base. Connect the cables to the switches. Assemble the two limit switches. See foldout/pos. <3/174> Connect connector R1.LS. Assemble the flange plate. See foldout/pos. <4/138> Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 97: Replacing The Mechanical Stop

    If the stop pins are bent, they must be replaced. See foldout 1 in chapter, Foldout. Replacement Action Note Remove the old stop pin. Fit the new pin according to the illustration. Loctite 242/243 xx1300002636 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 98: Axis 2

    Torque 8.3 Nm ±10% Fill with oil. Described in section: Type of lub- rication in gearboxes on page 74 Connect the cabling. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 99 4 Repair 4.4.1 Replacing the axis-2 motor Continued Action Note Calibrate the robot. Described in section: Calibration Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 100: Replacing The Axis-2 Gearbox

    If the gearbox of any of the axes 1, 2 or 3 needs to be changed, the whole unit must be changed. Replace How to replace the gearbox is described in section Replacing the axis-1 gearbox on page 94 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 101: Replacing The Lower Arm

    Refit the cabling. Described in section: Replacing the axis-1, -2, and -3 cabling on page 118 Calibrate the robot. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 102: Replacing The Bearings In The Upper Arm

    Attach the upper bracket of the tie rod as specified Described in section: Replacing the tie rod on page 107 Calibrate the robot. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 103: Replacing The Balancing Springs

    Torque of 68 Nm ±10%. Pull the springs down using tool 3HAB1214-6 and attach screws, together with lifting lug and washer. Attach the locking nut <1/76>. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 104: Axis 3

    Described in section: Type of lub- rication in gearboxes on page 74 Connect the cabling. Calibrate the robot. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 105: Replacing The Axis-3 Gearbox

    If the gearbox of any of the axes 1, 2 or 3 needs to be changed, the whole unit must be changed. Replace How to replace the gearbox is described in section Replacing the axis-1 gearbox on page 94 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 106: Replacing The Parallel Arm

    Attach the upper bracket of the tie rod. Described in section: Replacing the tie rod on page 107 Calibrate the robot. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 107: Replacing The Tie Rod

    Mount washer <73> and tighten the shaft using a temporary screw, M8x35. Replace this screw by screw <74> and mount the cable bearer <163>. Lock using Loctite 242 or 243. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 108: Replacing The Complete Upper Arm

    KM nut is tightened. Note Assemble the same side as axis 2 first. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 109 Calibration Undo the KM-nut on the axis 2 side, just to be able See foldout/pos. <2/50> to adjust the calibration washer. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 110 If the arm house is new: • Adjust the washer according to illustration and make new punch marks for axes 3 and xx1300002643 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 111: Axis 4

    Unscrew one screw at a time, apply Loctite 242 Torque, 4.1 Nm ±10%. or 243 and tighten. Reconnect the cabling. Calibrate the robot. Described in section: Calibration Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 112: Replacing The Intermediate Gear Including Sealing

    Then tighten the screws. See foldout/pos. <8/12>. Torque, 20 Nm ±10%. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 113 Replace the wrist in accordance with. Described in section: Replacing the wrist on page 121 Calibrate the robot as specified in . Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 114: Replacing The Drive Gear On The Tubular Shaft

    Figure 27. Install the drive gear using screws See foldout/pos. <8/18> (screws). Torque, 8.3 Nm ±10%. Note Do not forget the shims. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 115 122 Mount the wrist. Described in section: Replacing the wrist on page 121 Calibrate the robot. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 116: Dismantling The Tubular Shaft And Changing Bearings

    Described in section: Replacing the drive gear on the tubular shaft on page 114 Calibrate the robot. Described in section: Calibration information on page 127 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 117: Cabling And Serial Measurement Board

    Remove the board and loosen the connectors Refitting Action Note Fit the new serial measurement board. Reconnect connectors. Fit new cable ties around the bundle. Refit the flange plate. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 118: Replacing The Axis-1, -2, And -3 Cabling

    Fit new cables tie around bundle and attach the cable brackets. Reconnect connectors R1.MP, R2.FB1-3. Refit the flange plate. Refit the cover of the motors. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 119: Replacing The Axis-4, -5, And -6 Cabling

    See foldout/pos. <2/74>. Disconnect the connection boxes in the motors. Loosen the remaining cable brackets and remove the cabling. Refitting Action Note Refit in reverse order. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 120: The Wrist, Axis 5, And Axis 6

    The wrist, which includes axes 5 and 6, is a complete unit, comprising drive units and gears. It is of such a complex design that it is not normally serviced on-site, but should be sent to ABB to be serviced. Product manual - IRB 1410 3HAC026320-001 Revision: N ©...

  • Page 121: Replacing The Wrist

    The grease nipple on the tilt house should point towards the base. Screw the clamping sleeves together using See foldout/pos. <9/15>. screws. Replace the plastic plugs. Calibrate the robot. Described in section: Calibration. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 122: Replacing The Complete Axis-5 And Axis-6 Drive Mechanism

    Install the drive mechanism in the tubular shaft. Tighten screws. See foldout/pos. <8/29> Torque, 8.3 Nm ±10% Insert the cabling. Mount the wrist. Described in section: Replacing the wrist on page 121 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 123: Changing The Axis-5 And Axis-6 Motor Or Driving Belt

    122 Mount the wrist. Described in section: Replacing the wrist on page 121 Calibrate the robot. Described in section: Calibration Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 124: Measuring The Play In Axis-5 And Axis-6

    This correspond to a play of 0.37 mm on a radius of 100 mm when the load is F=42 N and 2 N. See illustration. xx1300002640 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 125: Motor Units

    There is a feedback device mounted on each motor unit. The device is installed by the supplier of the motor and should never be removed from the motor. The motor need never be commutated. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
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  • Page 127: Calibration Information

    The resolver values are changed If resolver values are changed, the robot must be recalibrated using the calibration methods supplied by ABB. Calibrate the robot carefully with standard calibration, according to information in this manual. If the robot has absolute accuracy calibration, it is also recommended, but not always necessary to calibrate for new absolute accuracy.

  • Page 128: Calibration Methods

    Brief description of calibration methods Calibration Pendulum method Calibration Pendulum is a standard calibration method for calibration of all ABB robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S). Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N ©...
  • Page 129 Levelmeter calibration - alternative method Levelmeter calibration is referred to as the alternative method for calibration of ABB robots because of the less accurate values obtained during calibration. The method uses the same principles as Calibration Pendulum, but does not have as good of mechanical tolerances to the toolkit parts as the standard method with Calibration Pendulum.

  • Page 130: Synchronization Marks And Synchronization Position For Axes

    5.3 Synchronization marks and synchronization position for axes Introduction This section shows the position of the synchronization marks and the synchronization position for each axis. Synchronization marks, IRB 1410 en0200000272 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 131: Calibration Movement Directions For All Axes

    Note! The graphic shows an IRB 7600. The positive direction is the same for all 6-axis robots, except the positive direction of axis 3 for IRB 6400R, which is in the opposite direction! xx0200000089 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 132: Updating Revolution Counters

    The correct values are found on a label, located either on the lower arm, underneath the flange plate on the base or on the frame. Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 133 Step 2 - Updating the revolution counter with the FlexPendant Use this procedure to update the revolution counter with the FlexPendant (IRC5). Action On the ABB menu, tap Calibration. xx1500000942 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 134 All mechanical units connected to the system are shown with their calibration status. Tap the mechanical unit in question. xx1500000943 A screen is displayed, tap Rev. Counters. en0400000771 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 135 Check the synchronization position very carefully after each update. See Checking the synchronization position on page 136. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 136: Checking The Synchronization Position

    If they do not, up- ization position for axes on page 130 date the revolution counters. Updating revolution counters on page 132. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 137: 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 138: 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 139: Reference Information

    7.1 Introduction 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 140: Applicable Standards

    Ergonomics of the thermal environment - Part 1 EN 61000-6-4:2007 + EMC, Generic emission A1:2011 IEC 61000-6-4:2006 + A1:2010 (option 129-1) EN 61000-6-2:2005 EMC, Generic immunity IEC 61000-6-2:2005 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 141 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 142: Unit Conversion

    1 kg 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 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 143: 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 144 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque (Nm) Tightening torque (Nm) Class 10.9, lubricated Class 12.9, lubricated Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 145 A special torque specified in the repair, maintenance or installation procedure overrides the standard torque. Dimension Tightening torque Nm - Tightening torque Nm - Tightening torque Nm - Nominal Min. Max. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 146: 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 147: Standard Tools

    This way, the tools required are the sum of the standard toolkit and any tools listed in the instruction. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 148: Special Tools

    The table below specifies the calibration equipment needed when calibrating the robot with the Calibration Pendulum method. Description Art. no. Note Calibration Pendulum toolkit 3HAC15716-1 Complete kit that also includes operating manual. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 149: Lifting Equipment And Lifting Instructions

    This implies that the instructions delivered with the lifting equipment should be stored for later reference. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 150 This page is intentionally left blank...

  • Page 151: Spare Part List

    Spare parts and exploded views are not included in the manual but delivered as a separate document for registered users on myABB Business Portal, www.mypo- rtal.abb.com. Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 152 This page is intentionally left blank...

  • Page 153: Circuit Diagram

    Circuit diagram - IRB 6400RF 3HAC8935-1 Circuit diagram - IRB 6600 type A 3HAC13347-1 3HAC025744-001 Circuit diagram - IRB 6600 type B 3HAC13347-1 3HAC025744-001 Continues on next page Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 154 3HAC029940-001 Circuit diagram - IRB 6700 3HAC043446-005 Circuit diagram - IRB 7600 3HAC13347-1 3HAC025744-001 Circuit diagram - Product.ProductName 3HAC050778-003 Circuit diagram - IRB 910SC 3HAC056159-002 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.

  • Page 155: Index

    73 danger levels, 38 manually releasing the brakes, 55 direction of axes, 131 MoveAbsJ instruction, 136 enabling device, 28 nation specific regulations, 17 Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 156 38 weight, 48 symbols on robot, 40 robot, 146 test run, 26 working range, 27 zero position safety fence, 18 checking, 136 safety risk Product manual - IRB 1410 3HAC026320-001 Revision: N © Copyright 2006-2018 ABB. All rights reserved.
  • Page 158 PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics and Motion 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2006-2018 ABB. All rights reserved. Specifications subject to change without notice.

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