ABB IRB 14000 Product Manual
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ABB IRB 14000 Product Manual

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Summary of Contents for ABB IRB 14000

  • Page 1 ROBOTICS Product manual IRB 14000 gripper...
  • Page 2 Trace back information: Workspace R18-2 version a15 Checked in 2018-10-30 Skribenta version 5.3.012...
  • Page 3 Product manual IRB 14000 gripper Document ID: 3HAC054949-001 Revision: H © Copyright 2015-2018 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

    Safety Introduction to safety information ................. General safety risks ................... 1.2.1 Safety risks during installation and service work on the IRB 14000 gripper ..1.2.2 Safety risks related to tools/work pieces ............1.2.3 Risks associated with live electric parts ............
  • Page 6 Standard toolkit ....................Spare parts Introduction ...................... Spare part lists and illustrations ................8.2.1 Parts ..................... 8.2.2 Description of spare part versions .............. Index Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 7: 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 14000 gripper. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
  • Page 8 Includes lists of necessary tools, additional doc- uments, safety standards, etc. Spare parts Reference to the spare part list for the IRB 14000 gripper. References Documentation referred to in the manual, is listed in the table below.
  • Page 9 Updated basic example for g_GetPressure1. • Removed spare part items for whole gripper assemblies, because the whole assemblies are not provided as spare parts anymore. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 10: 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 11 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 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 12 This page is intentionally left blank...

  • Page 13: Safety

    Overview This chapter describes the safety information specific to the IRB 14000 gripper only. It does not contain complete safety information for the IRB 14000 robot system. The following additional documents are essential for correct and safe usage of the IRB 14000 robot system, including the gripper: •...

  • Page 14: General Safety Risks

    Make sure that all bolts have been tightened before starting any operation after maintenance work. • Make sure that no foreign material is lying on the IRB 14000 gripper before starting an operation. • Damaged or broken equipment can result in a safety risk.

  • Page 15: 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 16: Risks Associated With Live Electric Parts

    1.2.3 Risks associated with live electric parts Voltage related risks 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 17: Installation And Commissioning

    2.1 Introduction 2 Installation and commissioning 2.1 Introduction General This chapter contains information for installing the IRB 14000 gripper at the working site. More detailed technical data about the gripper can be found in the Product specification for the robot.

  • Page 18: Unpacking

    2.2 Unpacking 2.2.1 Pre-installation procedure Introduction This section describes the unpacking and installation of the IRB 14000 gripper for the first time. It also covers re-installation of the IRB 14000 gripper. Packing, gripper The IRB 14000 gripper is packed following the standards of sea transportation, land transportation and air transportation on delivery.
  • Page 19 2 Installation and commissioning 2.2.1 Pre-installation procedure Continued Action Install required equipment, if any. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 20: Requirements

    Requirements, robot tool flange Make sure the area around the robot wrist has no particles that would obstruct the installation of the IRB 14000 gripper or be dangerous to the operator. Storage conditions, gripper The table shows the allowed storage conditions for the gripper:...

  • Page 21: Technical Data

    Servo + Vacu- 0.00020 0.00024 0.00011 0.00025 0.00029 0.00012 um 1 + Vacuum Servo + Vision 0.00017 0.00019 0.00008 0.00021 0.00023 0.00008 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 22 [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.262, [7.8, 11.9, 50.7], [1, 0, 0, 0], 0.00022, 0.00024, 0.00009] ] Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 23 Note: Dimensions of CoG in the brackets are without the fingers and suction tools Getting-started finger length Travel length: 0-50 mm Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 24 The gripper is powered by 24 V DC and the maximum power consumption of the whole gripper is 9 W. Air consumption Maximum air consumption is 15 liters/minute for a single pneumatic module. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 25 Camera, dimensions on page 18,5 37.5 (84) xx1500000106 Description Travel length = 0 - 50 mm Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 26: Servo Module

    The following figures show the relationship between the maximum allowed gripping force and gripping point to the finger flange. xx1500000792 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 27 The following figures show the relationship between the maximum allowed external force and gripping point to the finger flange. xx1500000798 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 28 The servo module is calibrated by RAPID instructions or using the FlexPendant interface. For details, see the section IRB 14000 gripper FlexPendant application on page 45 and chapter RAPID references on page 113. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 29: Vacuum Module

    Blow-off actuator To minimize cycle time and ensure accurate drop-off of the picked objects, a blow-off actuator is integrated in the vacuum module. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 30: Vision Module

    ABB Integrated vision or Cognex In-Sight Explorer Camera, dimensions The following figure shows the dimension of the Cognex AE3 camera. xx1500001395 Description Internal illumination Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 31 • upper shell xx1500000759 xx1400002152 Rotate the focusing ring of the 6.2mm lens to fit the application. xx1500001621 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 32 M1.2 screws. xx1400002155 xx1500000759 For the gripper also with a vacuum module, refit the filter and suction cup by twisting them. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 33: Fingers

    Design requirements for customized fingers Except for the two getting-started fingers delivered together with the IRB 14000 gripper, it is also possible for users to customize fingers based on actual requirements. The getting-started fingers can grip only up to 10,000 times under the maximum gripper force 20 N;...

  • Page 34: On-Site Installation

    2.4 On-site installation 2.4.1 Air and power supply Requirements The IRB 14000 gripper is supplied with air and 24 V DC power from the IRB 14000 tool flange. Before installing the gripper, ensure that air and electric power supply to the tool flange is shut off.

  • Page 35: Recommended Standard Tightening Torque

    Tightening torque (Nm) on metal Tightening torque (Nm) on plastic M1.2 0.05 M1.6 (12.9 class 0.25 carbon steel screw) M1.6 (stainless 0.05 steel screw) 0.25 M2.5 0.45 0.45 Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 36: Mounting The Gripper

    Three M2.5 holes and one guide pin are used to assemble the gripper to the arm tool flange. xx1500000126 Description Recommended screws, three M2.5 x 8 Air hose 8-pin connector (spring-loaded) Guide pin Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 37 The pins of the connector (shown as C in the preceding figure) are defined as follows. xx1500000796 Description EtherNet RD- EtherNet TD- EtherNet RD+ EtherNet TD+ Spare 0V, IO 24V, IO Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 38 Required tools and equipment Equipment Article number Note Standard toolkit Content is defined in section Standard toolkit on page 153. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 39 For the positions of the guide pin gripper align with the arm tool flange. and air hose hole, see Mounting flange on page Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 40 Rotate the flange with 180 degrees to access the Screw: M2.5 x 8, 3HAC051701-001 opposite screw hole and then refit the screw. (1 pcs) xx1500001392 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 41 (1 pcs) xx1500001393 Turn on the power and air supply to the gripper and then perform commissioning on the gripper. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 42: Mounting The Fingers

    The following figures show the hole configuration and main dimensions of the finger flanges. xx1500000794 Description Position of the maximum displacement Maximum hole depth Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 43: Mounting Tools To The Vacuum Module

    Any tools mounted to the gripper must be included in the final risk assessment by the system integrator. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 44 Description Length from the center to the outer shell surface Length from the center to the inner shell surface Shell hole depth Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 45: Irb 14000 Gripper Flexpendant Application

    SmartGripper add-in SmartGripper add-in is a RobotWare option for ABB smart grippers. After the add-in installation, all files re- lated to ABB smart grippers will be installed automatic- ally, such as configuration files, RAPID driver and Flex- Pendant application. Continues on next page...

  • Page 46: Installing Irb 14000 Gripper Flexpendant Application

    617-1 FlexPendant Interface, 709-1 DeviceNet Master/Slave, and 841-1 Ethernet/IP Scanner/Adapter are selected. 3 Install the robot system and restart the controller. The SmartGripper icon is displayed in the ABB main menu on the FlexPendant. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H ©...

  • Page 47: Updating Irb 14000 Gripper Flexpendant Application

    Products page. 3 Replace the old add-in with the new one. 4 Install the robot system and restart the controller. The SmartGripper icon is displayed in the ABB main menu on the FlexPendant. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H...

  • Page 48: Irb 14000 Gripper Flexpendant Application Gui

    2.5.3 IRB 14000 gripper FlexPendant application GUI 2.5.3 IRB 14000 gripper FlexPendant application GUI Main page The following figure shows the main page of IRB 14000 gripper FlexPendant application, which is a navigation page with the add-in version displayed at the lower right corner.
  • Page 49 Right Hand or Left Hand button will be enabled. Configuration page The following figure shows the configuration page for the IRB 14000 gripper. xx1500000575 In the configuration page, you can turn on or off the flange power and set up Left and Right identity of grippers.
  • Page 50 2 Installation and commissioning 2.5.3 IRB 14000 gripper FlexPendant application GUI Continued Servo module tab page The following figure shows the Servo module tab page in the hand page, which provides operations related to gripper motion. xx1500000576 Three function groups are available on the Servo module tab page: Setup, Command, and Status.
  • Page 51 2 Installation and commissioning 2.5.3 IRB 14000 gripper FlexPendant application GUI Continued Pneumatic module tab page The following figure shows the Pneumatic module tab page in the hand page, which is used for instructing the built-in valves to finish vacuum-sucking and blow-off operations.
  • Page 52 2 Installation and commissioning 2.5.3 IRB 14000 gripper FlexPendant application GUI Continued In the left or right gripper panel, press the select mechanical unit button to switch the active gripper and to switch the gripper panel at the same time.

  • Page 53: Commissioning

    • If no, switch the IP address of the gripper using the FlexPendant Gripper interface. Reboot the gripper by shutting power off and then Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 54: Firmware Update

    2 Installation and commissioning 2.6.2 Firmware update 2.6.2 Firmware update Overview Two methods, FTP and TFTP, are available for updating the firmware of ABB smart grippers. SmartGripper firmware version TFTP method FTP method Earlier than Ver. 4.7 Ver. 4.7 or later...
  • Page 55 • Image binary file The file must be a BIN file and named like "HandSWx_x.bin". Obtain the proper file by visiting the ABB Download Center website and searching with key words "IRB 14000 gripper software". Update procedure Use this procedure to update the firmware for the gripper: 1 Connect the PC to the Service port of the robot controller.
  • Page 56 5 Close the Tftpd32 program after the transmission is completed. The gripper is automatically booted with the firmware in the new version. Then, the firmware version of the gripper can be checked using the ABB Smart Gripper add-in. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H ©...

  • Page 57: System Commissioning

    Enter 20 in the text box next to the Move to button and then click the button. The gripper moves to the position 20 mm far. xx1500000835 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 58 The gripper has been powered on and the communication is established. • A minimum of 5.5-bar air pressure has been supplied to the AIR interfaces on the left side panel of the IRB 14000 controller. • A test object with a smooth surface has been prepared.
  • Page 59 • The Smart Gripper add-in has been installed correctly. • The IV option has been installed to use ABB Integrated Vision for testing the vision module. • The gripper has been powered on and the communication is normally. •...
  • Page 60 This page is intentionally left blank...

  • Page 61: Maintenance

    Suction cup(s) and filter(s) are properly fastened and has no mechanical damages. Camera window The window is clean and has no damages. LEDs and lightguides The LEDs and lightguides are functional. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 62 This page is intentionally left blank...

  • Page 63: Repair

    4.1 Introduction Structure of this chapter This chapter describes all repair activities recommended for the IRB 14000 gripper. It is made up of separate procedures, each describing a specific repair activity. Each procedure contains all the information required to perform the activity, for example spare parts numbers, required special tools, and materials.

  • Page 64: Replacing The Filter And Suction Cup

    Standard toolkit on page 153. Required spare parts Spare part Article number Note Vacuum filter 3HAC047854-001 Vacuum rubber cup 3HAC047927-001 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 65 Repeat the preceding step to remove the other two screws to detach the whole gripper from the arm tool flange. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 66 Always check the gripper power status before commencing any service work.. Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 67 Screw: M2.5 x 8, 3HAC051701-001 one of the three screw holes accessible and then (1 pcs) refit the screw. xx1500001391 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 68 (1 pcs) xx1500001393 Turn on the power and air supply to the gripper and then perform commissioning on the gripper. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 69: Replacing The Fingers

    Two getting-started fingers are delivered with the gripper. It is also possible to use customized fingers based on actual require- ments. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 70 Repeat the preceding step to remove the other two screws to detach the whole gripper from the arm tool flange. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 71 Use this procedure to refit the fingers. Refitting the fingers Action Note/Illustration Place a new finger on the finger flange. Fingers , 3HAC052976-001 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 72 Always check the gripper power status before commencing any service work.. Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 73 Screw: M2.5 x 8, 3HAC051701-001 one of the three screw holes accessible and then (1 pcs) refit the screw. xx1500001391 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 74 (1 pcs) xx1500001393 Turn on the power and air supply to the gripper and then perform commissioning on the gripper. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 75: Replacing The Shell

    Shell complete (with camera 3HAC054986- Used for the gripper with a cam- window) 001/3HAC066000-001 era. Use together with O-ring 1.8x1.8 , 3HAB3772-175 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 76 Repeat the preceding step to remove the other two screws to detach the whole gripper from the arm tool flange. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 77 Press the locations shown in the figure gently to detach the shell. The shell consists of two parts: • lower shell • upper shell xx1400002152 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 78 Shell complete (without camera window), 3HAC054987-001/3HAC066001-001 xx1400002155 Put the upper shell to the base plate. xx1500000769 Press the lower shell and upper shell togeth- Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 79 Always check the gripper power status before commencing any service work.. Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 80 Screw: M2.5 x 8, 3HAC051701-001 one of the three screw holes accessible and then (1 pcs) refit the screw. xx1500001391 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 81 (1 pcs) xx1500001393 Turn on the power and air supply to the gripper and then perform commissioning on the gripper. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 82: Replacing The Pneumatic Block

    Content is defined in section Standard toolkit on page 153. Required spare parts Spare part Article number Note Pneumatic block 3HAC054989-001 Pneumatic block 3HAC054990-001 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 83 A Suction cup B Filter Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 84 • upper shell xx1400002152 Removing the pneumatic block Action Note/Illustration Disconnect the connectors from the vacuum sensor and valve. xx1400002618 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 85 For the gripper with a camera, disconnect the flexible flat cable (FFC) from the camera. xx1500000612 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 86 For the left pneumatic block, remove the screws to remove the connector board. xx1500000609 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 87 Refit the new pneumatic block to the servo Screw M2.5 (3 pcs) base with screws. Pneumatic block, 3HAC054989-001 Pneumatic block, 3HAC054990-001 xx1500000610 Refit the main PCB. xx1400002621 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 88 Shell complete (without camera window), 3HAC054987-001/3HAC066001-001 xx1400002155 Put the upper shell to the base plate. xx1500000769 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 89 Always check the gripper power status before commencing any service work.. Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 90 Screw: M2.5 x 8, 3HAC051701-001 one of the three screw holes accessible and then (1 pcs) refit the screw. xx1500001391 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 91 (1 pcs) xx1500001393 Turn on the power and air supply to the gripper and then perform commissioning on the gripper. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 92: Replacing The Camera

    Content is defined in section Standard toolkit on page 153. Required spare parts Spare part Article number Note Camera AE3 3HAC051676-001 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 93 A Suction cup B Filter Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 94 The shell consists of two parts: • lower shell • upper shell xx1400002152 Removing the camera Action Note Disconnect the FFC from the camera. xx1500000612 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 95 Refit the camera with the camera bracket to Camera AE3, 3HAC051676-001 the servo base. Screw, M2 (2 pcs) xx1500000614 Connect the FFC to the camera. xx1500000612 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 96 Shell complete (without camera window), 3HAC054987-001/3HAC066001-001 xx1400002155 Put the upper shell to the base plate. xx1500000769 Press the lower shell and upper shell togeth- Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 97 Always check the gripper power status before commencing any service work.. Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 98 Screw: M2.5 x 8, 3HAC051701-001 one of the three screw holes accessible and then (1 pcs) refit the screw. xx1500001391 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 99 (1 pcs) xx1500001393 Turn on the power and air supply to the gripper and then perform commissioning on the gripper. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 100: Replacing The Servo Base

    Article number Note Servo base 3HAC054988- 001/3HAC065996-001 Spare part versions of servo base on page 160 for spare part versions. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 101 A Suction cup B Filter Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 102 • upper shell xx1400002152 Removing the pneumatic block Action Note/Illustration Disconnect the connectors from the vacuum sensor and valve. xx1400002618 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 103 For the gripper with a camera, disconnect the flexible flat cable (FFC) from the camera. xx1500000612 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 104 For the left pneumatic block, remove the screws to remove the connector board. xx1500000609 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 105 Note/Illustration Refit the camera with the camera bracket to Camera AE3, 3HAC051676-001 the servo base. Screw, M2 (2 pcs) xx1500000614 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 106 Refit the new pneumatic block to the servo Screw M2.5 (3 pcs) base with screws. Pneumatic block, 3HAC054989-001 Pneumatic block, 3HAC054990-001 xx1500000610 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 107 3HAC054986-001/3HAC066000-001 the location holes on the base plate. Shell complete (without camera window), 3HAC054987-001/3HAC066001-001 xx1400002155 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 108 Refit the screws to fasten the shell. Screw M1.2 (2 pcs) xx1500000759 Spare part versions of shell complete on page 161 for spare part versions. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 109 Position the gripper to the arm tool flange on the axis 6 of the robot. xx1500001394 A Arm tool flange B Axis 6 of the robot Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 110 Rotate the flange with 180 degrees to access the Screw: M2.5 x 8, 3HAC051701-001 opposite screw hole and then refit the screw. (1 pcs) xx1500001392 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 111 (1 pcs) xx1500001393 Turn on the power and air supply to the gripper and then perform commissioning on the gripper. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 112 This page is intentionally left blank...

  • Page 113: Rapid References

    Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 114 • g_IsCalibrated the program execution returns FALSE. • g_isCamOnline Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 115: Instructions

    The gripper's expected force in unit of N when gripping and holding the target object. If this is not set, the default force 20 N will be used. [\phyLimit] Data type: num Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 116 ['\' holdForce ':='] <expression (IN) of num> ',' ['\' phyLimit ':='] <expression (IN) of num> ',' ['\' Calibrate ] ',' ['\' Grip ] ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 117: G_Jogin - Jog The Gripper To Move Inward

    The program will pause until the gripper reaches a mechanical limit or timeout. Even if the gripper is stuck mechanically, no error or warning is raised and the program execution will go on. Syntax g_JogIn ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 118: G_Jogout - Jog The Gripper To Move Outward

    The program will pause until the gripper reaches a mechanical limit or timeout. Even if the gripper is stuck mechanically, no error or warning is raised and the program execution will go on. Syntax g_JogOut ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 119: G_Moveto - Move The Gripper To A Target Position

    If the specified distance is too small, for example, less than 0.2 mm, the gripper will not move. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 120 If the robot loses the communication with the gripper, the error ERR_NORUNUNIT will be raised. Syntax g_MoveTo [targetPos ':='] <expression (IN) of num> ',' ['\' NoWait ] ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 121: G_Gripin - Jog The Gripper To Grip Inward

    MoveL Gripposition,z0; MoveLSync Offs(Gripposition,0,0,50), z10,"EvaluateGrip ; MoveL GripComple, z10 Waituntil GripEvaluated; IF GripSuccess THEN ! go on with next step. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 122 Limitations This instruction is allowed only in gripper tasks T_ROB_R and T_ROB_L. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 123 ['\' holdForce ':='] <expression (IN) of num> ',' ['\' targetPos ':='] <expression (IN) of num> ',' ['\' posAllowance ':='] <expression (IN) of num> ',' ['\' NoWait ] ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 124: G_Gripout - Jog The Gripper To Grip Outward

    MoveL Offs(Gripposition,0,0,50), z10 MoveLSync Offs(Gripposition,0,0,5), z0,"CloseHand ; MoveL Gripposition,z0; MoveLSync Offs(Gripposition,0,0,50), z10,"EvaluateGrip ; MoveL GripComple, z10 Waituntil GripEvaluated; IF GripSuccess THEN Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 125 Limitations This instruction is allowed only in gripper tasks T_ROB_R and T_ROB_L. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 126 ['\' holdForce ':='] <expression (IN) of num> ',' ['\' targetPos ':='] <expression (IN) of num> ',' ['\' posAllowance ':='] <expression (IN) of num> ',' ['\' NoWait ] ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 127: G_Calibrate - Calibrate The Gripper

    Program execution The program does not continue to the next statement until the calibrating process is completed. Syntax g_Calibrate ['\' Jog] ',' ['\' Grip] ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 128: G_Stop - Stop The Gripper

    Basic examples g_Stop; Program execution The instruction will stop any movement or gripping operation of the gripper. Then, the program will continue. Syntax g_Stop ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 129: G_Setmaxspd - Set The Maximum Speed

    If the robot loses the communication with the gripper, the error ERR_NORUNUNIT will be raised. Syntax g_SetMaxSpd [maxSpd ':='] <expression (IN) of num> ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 130: G_Setforce - Set The Gripping Force

    If the robot loses the communication with the gripper, the error ERR_NORUNUNIT will be raised. Syntax g_SetForce [holdForceInN ':='] <expression (IN) of num> ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 131: Rapid Instructions For Pneumatic Modules

    Program execution The program will turn on the corresponding I/O signal. If there is no actual valve, this instruction has no meaning. Syntax g_BlowOn1 ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 132: G_Blowoff1 - Turn Off Blowing Channel 1

    Program execution The program will turn off the corresponding I/O signal. If there is no actual valve, this instruction has no meaning. Syntax g_BlowOff1 ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 133: G_Blowon2 - Turn On Blowing Channel 2

    Program execution The program will turn on the corresponding I/O signal. If there is no actual valve, this instruction has no meaning. Syntax g_BlowOn2 ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 134: G_Blowoff2 - Turn Off Blowing Channel 2

    Program execution The program will turn off the corresponding I/O signal. If there is no actual valve, this instruction has no meaning. Syntax g_BlowOff2 ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 135: G_Vacuumon1 - Turn On Vacuum Channel 1

    ERRNO will be set to ERR_HAND_ FAILEDVACUUM. The error can be handled in the error handler. Syntax g_VacuumOn1 ['\' threshold ':='] <expression (IN) of num> ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 136: G_Vacuumoff1 - Turn Off Vacuum Channel 1

    Program execution The program will turn off the corresponding I/O signal. If there is no actual valve, this instruction has no meaning. Syntax g_VacuumOff1 ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 137: G_Vacuumon2 - Turn On Vacuum Channel 2

    ERRNO will be set to ERR_HAND_ FAILEDVACUUM. The error can be handled in the error handler. Syntax g_VacuumOn2 ['\' threshold ':='] <expression (IN) of num> ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 138: G_Vacuumoff2 - Turn Off Vacuum Channel 2

    Program execution The program will turn off the corresponding I/O signal. If there is no actual valve, this instruction has no meaning. Syntax g_VacuumOff2 ';' Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 139: Functions

    The function will return TRUE if the gripper has been calibrated, while FALSE if not calibrated. Syntax g_IsCalibrated '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 140: G_Getpos - Get Current Gripper Position

    If the gripper has not been calibrated, the error ERR_NOTCALIBRATED will be raised. Syntax g_GetPos '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 141: G_Getspd - Get Current Gripper Speed

    If the communication to the corresponding gripper fails, the error ERR_NORUNUNIT will be raised. Syntax g_GetSpd '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 142: G_Getstate - Get Current Gripper Status

    (less than the assigned gripping force). The movement stops only after the gripper reaches the target object or mechanical limit. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 143 If the communication to the corresponding gripper fails, the error ERR_NORUNUNIT will be raised. Syntax g_GetState '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 144: G_Geterrid - Get Current Gripper Error Id

    Check the MPB. • Check the cooling sys- 0xF1 The CPU temperature is over- tem. high. • Check the MPB. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 145 The DC bus current is too Check the power supply of large. the gripper. Syntax g_GetErrID '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 146: Rapid Functions For Pneumatic Module

    If the communication to the corresponding gripper fails, the error ERR_NORUNUNIT will be raised. Syntax g_GetPressure1 '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 147: G_Getpressure2 - Get Vacuum Pressure 2

    If the communication to the corresponding gripper fails, the error ERR_NORUNUNIT will be raised. Syntax g_GetPressure2 '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 148: Rapid Functions For Camera Module

    If the communication to the corresponding gripper fails, the error ERR_NORUNUNIT will be raised. Syntax g_IsCamOnline '(' [ Value ':=' ] <expression (IN) of num> Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 149: Decommissioning

    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 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
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  • Page 151: 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 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 152: 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 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 153: Standard Toolkit

    Socket head cap screwdriver for M1.6 Socket head cap screwdriver for M2 Socket head cap screwdriver for M2.5 Plus screwdriver M2 Torx screwdriver M2 Tweezer Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 154 This page is intentionally left blank...

  • Page 155: Spare Parts

    8.1 Introduction 8 Spare parts 8.1 Introduction General This chapter include spare part lists and spare part illustrations for the IRB 14000 gripper and all its variants. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 156: Spare Part Lists And Illustrations

    Main PCB 3HAB3772-174 O-ring 3x2 3HAB3772-175 O-ring 1.8x1.8 3HAC054989-001 Pneumatic block 3HAC051676-001 Camera AE3 3HAC047854-001 Vacuum filter 3HAC047927-001 Vacuum rubber cup Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 157 Spare part versions of servo base on page 160 for spare part versions. Spare part versions of shell complete on page 161 for spare part versions. Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 158 3HAB3772-175 O-ring 1.8x1.8 3HAC054989-001 Pneumatic block 3HAC054990-001 Pneumatic block 3HAC047854-001 Vacuum filter 3HAC047927-001 Vacuum rubber cup 3HAC054988- Servo base 001/3HAC065996-001 Continues on next page Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 159 3HAB3772-173 O-ring 7x1 3HAC054987- Shell complete (without cam- 001/3HAC066001-001 era window) Spare part versions of servo base on page 160 for spare part versions. Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 160: Description Of Spare Part Versions

    8.2.2 Description of spare part versions Spare part versions of servo base Note IRB 14000 gripper has different servo base versions that are not compatible with each other. Always use the following list as a reference to check the servo base of the gripper and order the correct spare parts.
  • Page 161 Figure 8.1: Spare part versions of shell complete Note IRB 14000 gripper has different shell complete versions that are not compatible with each other. Always use the following list as a reference to check the shell complete of the gripper and order the correct spare parts.
  • Page 162 With camera Servo base 3HAC054986-001 3HAC054988-001 Without camera 3HAC054987-001 xx1800000802 xx1800000806 With camera Servo base 3HAC066000-001 3HAC065996-001 Without camera 3HAC066001-001 xx1800000804 xx1800000805 Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.

  • Page 163: Index

    118 steel g_MoveTo, 119 disposal, 149 g_SetForce, 130 storage conditions, 20 g_SetMaxSpd, 129 g_Stop, 128 temperatures g_VacuumOff1, 136 operation, 20 g_VacuumOff2, 138 storage, 20 Product manual - IRB 14000 gripper 3HAC054949-001 Revision: H © Copyright 2015-2018 ABB. All rights reserved.
  • Page 166 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 2015-2018 ABB. All rights reserved. Specifications subject to change without notice.

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