Page 1 ROBOTICS Product manual IRB 14000...
Page 2 Trace back information: Workspace 21B version a6 Checked in 2021-05-31 Skribenta version 5.4.005...
Page 4 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, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
2.4.2.3 Connecting I/O signals ..............2.4.2.4 Connecting fieldbuses ..............2.4.2.5 Connecting safety signals ............. 2.4.3 I/O system ..................... 2.4.3.1 Local I/O devices ................. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 6 Replacing the right arm's drive board ............4.6.10 Replacing the I/O board ................4.6.11 Replacing the SMB boards ................ 4.6.12 Replacing the EtherNet switch ..............Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 7 Specification of screws ..................Screw joints ....................Weight specifications ..................Standard toolkit ....................Special tools ....................Lifting accessories and lifting instructions .............. Index Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 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 14000. Some variants and designs may have been removed from the business offer and are no longer available for purchase.
Page 10 Added figures for axis-4, axis-5 and axis-6 motors for removal and refitting of the wave generator. • Added reference to absolute accuracy calibration for some repair procedures. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 11 See Connecting power supply on page • Re-calibration instruction for replacing hall sensors revised. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 12 Clarified and added information in mounting instructions for rotat- ing sealings, see Mounting instructions for sealings on page 138. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 13 Text regarding diameter of air hoses is updated, see Controller interface, left side on page • Added delivery information about the attachment screws, see Specification, attachment screws and pins on page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
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 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 17: Network Security
ABB Ltd and its entities are not liable for damage and/or loss related to such security breaches, any unauthorized access, interference, intrusion, leakage and/or theft of data or information.
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Page 19: Safety
The installation and/or use of non-original spare parts and equipment can negatively affect the safety, function, performance, and structural properties of the robot. ABB is not liable for damages caused by the use of non-original spare parts and equipment.
Page 20: Safety Data
The safety related parts of robot and controller are e.g. the following stop circuits: • Enabling device • Emergency stop on operator panel Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 21 EN ISO 13849-1 Annex C, D and E resulting in the values as specified in the following table. See the SISTEMA/ABB FSDT libraries for details of the safety functions. Based on the values from the previous table of MTTF values, the corresponding can be calculated using the Annex K, table K1 of EN ISO 13849-1:2008.
Page 22: Requirements On Personnel
The plant liable must make sure that the personnel is trained on the robot, and on responding to emergency or abnormal situations. Personal protective equipment Use personal protective equipment, as stated in the instructions. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 23: Safety Signals And Symbols
NOTE Signal word used to indicate important facts and conditions. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 24 Symbol Designation Significance Signal word used to indicate where to find additional information or how to do an operation in an easier way. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 25: Safety Symbols On Manipulator Labels
Prohibition Used in combinations with other symbols. xx0900000839 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 26 Brake release Pressing this button will release the brakes. This means that the robot arm can fall down. xx0900000808 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 27 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 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 28 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 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 29 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 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 30 Use the power switch on the controller. xx0900000827 Do not step Warns that stepping on these parts can cause damage to the parts. xx1400002648 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 31: Safety Symbols On Controller Labels
The information labels can contain information in text. Symbols on safety labels Label Description Read the user manual before use. xx1400001152 CE label xx1800000835 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 32 UL certified (robot with controller) xx1400002061 Rating label (example) xx1400001163 Lifting instruction for the IRC5 controller. xx1400001157 Required installation space. xx1400001155 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 33 High voltage inside the module even if the main switch is in the OFF position. xx1400001156 ESD sensitive components inside the controller. xx1400001162 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 34: Robot Stopping Functions
The safety input Superior Stop is operational in both manual mode and automatic mode. The default configuration is stop category 1. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 35 SoftSS can be used to configure the protective stop in automatic and manual mode, either as stop category 0 or category 1. The default configuration is TRUE (stop category 1). Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 36: Installation And Commissioning
Note Use a CARBON DIOXIDE (CO ) extinguisher in the event of a fire in the robot. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 37 No sharp edges or pinch points Grippers, end effectors and work pieces The YuMi gripper from ABB is designed to allow manual release and removal of gripped work pieces. Both servo and vacuum modules can be overridden by manual force.
Page 38 The air pressure must not exceed the rated limit for the manipulator, or there is a risk of personal injury and mechanical damage. Pressure relief valves must be kept clean. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 39 Before the robot system is put into operation, verify that the safety functions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 40: Operation
1.5.1 Manually stopping or overriding the arm Description The movement of the IRB 14000 arm can be manually be stopped or overridden because the arm is light and the drivetrain power is limited. If the arm is in motion, collision detection can be used help to stop the the arm. If the arm is at standstill, motors or brakes can be manually overridden.
Page 41: Unexpected Movement Of Robot Arm
Unexpected movement of robot arm WARNING Hazards due to the use of brake release devices and/or gravity beneath the manipulator shall be considered. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 43 See safety instructions for the batteries in Material/product safety data sheet - Battery pack (3HAC043118-001). Related information See also the safety information related to installation and operation. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 44: Emergency Release Of The Robot Axes
How to release the brakes is described in the section: • Manually releasing the brakes on page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 45: Brake Testing
Note For robots with the option SafeMove, the Cyclic Brake Check routine is recommended. See the manual for SafeMove in References on page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 46: Troubleshooting
The manipulator can move unexpectedly at any time. DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers. A risk assessment must be done to address both robot and robot system specific hazards.
Page 47: Decommissioning
1 Safety 1.8 Decommissioning 1.8 Decommissioning General See section Decommissioning on page 423. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
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Page 49: Installation And Commissioning
Note If the IRB 14000 is connected to power, always make sure that the robot is connected to protective earth and a residual current device (RCD) before starting any installation work. For more information see:...
Page 50: 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 51 Force x ±89 N ±178 N Force y ±147 N ±294 N Force z +380 ±140 N +380 ±280 N Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 52 Maximum ambient temperature +55°C Maximum ambient temperature (less than 24 hrs) +55°C Maximum ambient humidity 85% at constant temperature (gaseous only) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 54: Dimensions
2 Installation and commissioning 2.2.2 Dimensions 2.2.2 Dimensions Dimensions IRB 14000 Robot 187.5 (360) xx1500000103 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 55 2 Installation and commissioning 2.2.2 Dimensions Continued Robot arms xx1900001958 IRB 14000 (no-type-specified) IRB 14000 Type A 137 mm 146 mm Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 56: Working Range
Illustration, working range IRB 14000 The illustrations show the unrestricted working range of the robot. Front view 1018 xx1500000105 Side view 1018 xx1500000660 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 57 -168.5° to +168.5° Axis 2 Arm - Bend motion -143.5° to +43.5° Axis 7 Arm - Rotation motion -168.5° to +168.5° Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 58 Wrist - Rotation motion -290° to +290° Axis 5 Wrist - Bend motion -88° to +138° Axis 6 Flange - Rotation motion -229° to +229° Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 59: Risk Of Tipping/Stability
This figure shows the robot in its shipping position and transportation position. xx1500000363 WARNING The robot will be mechanically unstable if not properly secured to the foundation. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 60: The Unit Is Sensitive To Esd
The mat must be grounded through a current-limiting resistor. • Use a dissipative table mat. The mat should provide a controlled discharge of static voltages and must be grounded. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 61: On-Site Installation
2.3.1 Lifting the robot with lifting accessories Introduction The IRB 14000 is a collaborative robot, the whole robot can be lifted by lifting accessories or lifted manually. This section contains a general overview of how to lift the complete robot using lifting accessories.
Page 62 Action Note CAUTION The IRB 14000 robot weighs 38 kg. All lifting accessories used must be sized ac- cordingly! Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 63 Carefully stretch the chain by lifting the crane slowly. Remove the robot attachment screws (if the Screw (8 pcs) of M5x25 robot is fastened). Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 64 2 Installation and commissioning 2.3.1 Lifting the robot with lifting accessories Continued Action Note Raise the overhead crane to lift the robot. xx1500000053 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 65: Lifting The Robot Without Lifting Accessories
Lifting and transporting the robot Use this procedure to lift the robot. Action Note CAUTION The IRB 14000 robot weighs 38 kg and can be lifted by two persons. Grasp the hand-holding grooves, one person on each side of the robot. xx1400002122...
Page 66 Secure the robot on a workbench according to Screws: 8 pcs M5x25 section Orienting and securing the robot on Washers: 8 pcs, 5.3x10x1 page xx1400002021 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 67: Orienting And Securing The Robot
C - C xx1400002124 Guide pins, 3HNP00449-1, one is to fit round hole, the other is to fit slot hole. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 68 It also specifies the type of pins to be used. All hardware is enclosed in the robot delivery. Screws M5x25 Quantity 8 pcs Quality Washer 8 pcs, 5.3x10x1 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 69 Washers: 8 pcs, 5.3x10x1. Tighten the bolts crosswise to ensure that the Tightening torque: 3.8 Nm ± 0.38 Nm base is not distorted. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 70: Manually Releasing The Brakes
There are two brake release buttons located as shown in the figure. xx1400002126 Brake release button for right arm Brake release button for left arm Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 71 Release the holding brake on the arm axes by pressing the button. The brake will function again as soon as the button is released. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 72: Installing The Signal Lamp
Includes attachment screws. Hex socket head cap screw 3HAC050368-005 M2x8 8.8 Torx pan head screw 3HAC050367-005 M3x12 8.8 Gleitmo 605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 73 Remove the body cover top screws. xx1400002904 Remove the body cover. xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 74 Make sure that all supplies for electrical power, hy- draulic pressure, and air pressure are turned off. Remove the protection cover. xx1500000605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 75 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 76 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 77 2.3.5 Installing the signal lamp Continued Action Note Refit the body cover top screws. Screws: M3x6 (4 pcs). Tightening torque: 0.2 Nm. xx1400002904 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 78: Electrical Connections
Communication between the FlexPendant and the robot. Main power cable Main power cable can be provided by customer or purchased from ABB as option. The following table lists the ABB-supplied main power cables in different interface standards. Choose as required.
Page 79: Risk Of Mechanical Damage
2.3.7 Risk of mechanical damage General IRB 14000 motors and gears are designed to exert limited power to be safe for the operator. Improper handling might cause mechanical damage to the robot, as the drivetrain and motors are smaller. Axis 5 (wrist) is the smallest and most sensitive.
Page 80: Lead-Through
This means that it is possible to combine lead-through, jogging, and testing the RAPID program without having to disable the lead-through. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 81 If the load is lighter than the defined load, the effect will be the same as if you are pulling the robot arm upwards. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 82: Installation Of Abb Grippers
2 Installation and commissioning 2.3.9 Installation of ABB grippers 2.3.9 Installation of ABB grippers Installing grippers The procedure for installation of ABB grippers is described in Product manual - Grippers for IRB 14000. Product manual - IRB 14000 3HAC052983-001 Revision: P...
Page 83: Controller
The IRB 14000 integrated controller is based on the standard IRC5 controller, and contains all functions needed to move and control the robot. xx1400002127 Note When replacing a unit in the controller, report the following data to ABB, for both the replaced unit and the replacement unit: • the serial number •...
Page 84 Outer diameter of air hose 4 mm; 0.6 MPa air pressure Air R Air supply, right arm Outer diameter of air hose 4 mm; 0.6 MPa air pressure Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 85 The following illustration describes the interface on the right side panel of the controller. xx1400002125 Power switch FlexPendant Power input Main AC power connector, IEC 60320-1 C14, 100-240 VAC, 50-60 Hz Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 86: Connections
Main AC power connector, IEC 60320-1 C14, 100-240 VAC, 50-60 Hz Connecting power supply Line fusing Line fusing of the IRB 14000 is 5A at 100-240 V. Rated power Rated power of the IRB 14000 is 360 W. Required equipment...
Page 87 Plug in the FlexPendant cable connector. Screw the connector lock ring firmly by turning it clockwise. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 88: Connecting A Pc And Ethernet Based Options
LAN2 (connection of Ethernet based options). XP26 LAN3 (connection of Ethernet based options). XP24 USB port to main computer Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 89 Service port test middle The service port is intended for service engineers and programmers connecting directly to the controller with a PC. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 90 Connecting a PC to the controller in Operating manual - RobotStudio. LAN ports The LAN 1 port is dedicated for connecting the FlexPendant. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 91 For example field buses, cameras, and welding equipment. Note When using IRB 14000 grippers, the following restrictions apply to the usage of LAN2: • Any external units connected to LAN2 need to have IP addresses on the same subnet as the grippers, network 192.168.125.0/24.
Page 92 USB on the X10 connector for connecting USB memory devices. The USB ports on the X11 connector are intended for internal use. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 93: Connecting I/O Signals
2 Installation and commissioning 2.4.2.3 Connecting I/O signals 2.4.2.3 Connecting I/O signals Introduction It is possible to connect digital I/O signals to the IRB 14000 through the connectors on the interface on the left side panel of the controller. xx1400002129 XS12...
Page 94 For more information about configuring I/O, see Application manual - DeviceNet Master/Slave and Technical reference manual - System parameters Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 95: Connecting Fieldbuses
PROFINET or EtherNet/IP (fieldbus adapter option) Note DeviceNet m/s (option 709-1) is provided at XS17 as default. The DeviceNet fieldbus adapter (option 840-4) is not supported by IRB 14000. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P...
Page 96 The fieldbus adapters are inserted into the expansion board on top of the main computer unit. There is one slot available for installing a fieldbus adapter. xx1300000604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 97 CANL and CANH - that is, between pin 2 and pin 4 according to the illustration below. xx0400000674 References For more information on how to install and configure the fieldbuses, see the respective fieldbus application manual. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 98: Connecting Safety Signals
2.4.2.5 Connecting safety signals Introduction The IRB 14000 safety stop signals (SS) are accessed through the safety connector on the interface on the left side panel of the controller. This is covered by a safety bridge connector by default in standalone mode. If the bridge connector is removed, it is external device mode.
Page 99 IRB 14000 FlexPendant. Safety PLC The safety PLC shall process the input from the IRB 14000 emergency stop, as well as inputs from other safety devices in the cell, and set the necessary outputs to stop machinery in the cell.
Page 100 (option 1526-X) through the safety connector XS9. The safety relay also receives main power inputs and then feeds the inputs to the robot power inlet. Contact ABB for further information. IRB14000 Controller...
Page 101 Safety relay Auto-reset Switch to A Note1 Jumper cable need be removed if the external safety relay is connected. xx2000000519 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 102 Jumper cable need be removed if the external safety relay is connected. xx2000000520 For more information about connecting the safety signals, see Circuit diagram - IRB 14000. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 103: I/O System
2.4.3.1 Local I/O devices General ABB Scalable I/O is a modular, compact, and scalable I/O system that consists of a base device, which is the minimum configuration, and add-on devices. Up to four add-on devices can be controlled by each base device with maintained performance, and any combination of add-on devices is supported.
Page 104 Local I/O devices and parts For more information about Local I/O device and parts, see Product manual, spare parts - IRB 14000. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 105: Conveyor Tracking Module
2 encoders and 4 camer- Two connector kits are needed to handle additional encoders and cameras. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 106 The table below gives references to additional information: Information: Found in: How to install and configure Convey- Application manual - Conveyor tracking, or Tracking. 3HAC050991-001 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 107: Memory Functions
2.4.4.1 SD-card memory 2.4.4 Memory functions 2.4.4.1 SD-card memory General The controller is fitted with an SD-card memory containing ABB Boot Application software. The SD-card memory is located inside the computer unit. Note Only use SD-card memory supplied by ABB.
Page 108: Connecting An Usb Memory
Location on the FlexPendant The location of the USB port on the FlexPendant is shown by the following illustration: xx1500000701 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 109: Installation Of Add-Ons
Note DANGER Before commencing any work inside the cabinet make sure that the main power has been switched off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 110 Connect wires to the inputs and outputs as re- quired. Configure the device, see Application manu- al - Scalable I/O. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 111 The add-on devices to be installed and the base device is shown in the illustration below. xx1600002032 For more information about installing Local I/O add-on devices, please see Application manual - Scalable I/O. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 112: Installation Of Conveyor Tracking Module
Article number Note DSQC 2000 CTM-01 3HNA027579-001 CONNECTOR KIT - DSQC 2000 3HNA029345-001 Standard toolkit Standard toolkit on page 436. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 113 Connect wires to the encoder and camera Described in the Application manual - Con- connectors as required. veyor tracking. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 114: What Is Cartesian Speed Supervision
The Cartesian speed supervision is active in both manual and automatic mode. The setting is defined by system parameters. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 115: 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 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 116: Additional Information For Irb 14000
2.6 Additional information for IRB 14000 2.6 Additional information for IRB 14000 Overview IRB 14000 is designed to simplify collaborative applications. Therefore some features work somewhat different compared with standard industrial robots. Some of them are listed in this section.
Page 117: Maintenance
Note If the IRB 14000 is connected to power, always make sure that the IRB 14000 is connected to protective earth and a residual current device (RCD) before starting any maintenance work.
Page 118: Maintenance Schedule
3.2.1 Specification of maintenance intervals Introduction The intervals are specified in different ways depending on the type of maintenance activity to be carried out and the working conditions of the IRB 14000: • Calendar time: specified in months regardless of whether the system is running or not.
Page 119: Maintenance Schedule
Plastic and padding parts are a safety feature of the robot, that limit impact during collisions. To ensure a maintained safety level of the robot, regular inspections of these parts are necessary. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 120 The table below specifies the required maintenance activities and intervals: Maintenance activities Reference Inspection activities Inspecting the signal lamp Inspecting, signal lamp on page 125 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 121: Inspection Activities
UL-label label label manual ESD warning rating label VIEW C xx1500000720 Description Illustration Instruction plate, Brake release xx1500000723 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 122 Continued Rating label xx1500000724 Lifting label xx1500000725 Caution label, Risk of tipping xx1500000726 Read manual label xx1500000727 Calibration label Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 123 Absolute Accuracy xx1500001643 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 124 Turn off all electric power supply to the robot, before entering the safeguarded space. Inspect the labels. Location of labels on page 121. Replace any missing or damaged labels. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 125: Inspecting, Signal Lamp
Use this procedure to inspect the function of the signal lamp. Action Note Verify that the signal lamp is lit when motors are put in operation ("MOTORS ON"). Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 126 For details about how to replace the signal lamp, see Installing the • Inspect the cabling. Replace the cabling if a signal lamp on page fault is detected. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 127: Inspecting, Cable Harness
Inspecting the cable harness Action Note DANGER Turn off all electric power supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 128 CAUTION section Replacing the encapsula- tion and covers on page 156. Be careful not to squeeze any cabling during the refitting procedure. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 129: Inspecting, Plastic And Padding
Inspecting plastic and padding Action Note DANGER Turn off all electric power supply to the robot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 130 Tightening torques are specified in fully fastened. Manually check that the parts are Replacing the encapsulation and not loose. Tighten, if needed. covers on page 156. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 131: Replacement/Changing Activities
Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P ©...
Page 132 The unit is sensitive to ESD. Before handling the unit, see The unit is sensitive to ESD on page Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 133 The unit is sensitive to ESD. Before handling the unit, see The unit is sensitive to ESD on page Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 134 Action Note Fit the battery and and secure it with a cable tie. Note Battery includes protection circuits. Only replace with a specified spare part or with an ABB-ap- proved equivalent. xx1500000506 Connect the battery connector (X3). xx1500000505 Refit the body cover.
Page 135 Update the revolution counters. Updating revolution counters on page 411. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 136: Cleaning Activities
Turn off all electrical power supplies to the robot before starting the cleaning. General To secure high uptime it is important that the IRB 14000 is cleaned regularly. The frequency of cleaning depends on the environment in which the product works.
Page 137: Repair
Note If the IRB 14000 is connected to power, always make sure that the IRB 14000 is connected to protective earth and a residual current device (RCD) before starting any repair work. For more information see:...
Page 138: General Procedures
Do not try to grind or polish the shaft surface to get rid of the defect. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 139 Mount the sealing correctly with a mounting tool. Never hammer directly on the sealing as this may result in leakage. xx2000000072 A Gap Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 140 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 141: Arm And Arm Covers
The arm is located as shown in the figure. xx1500000662 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 142 Preparations before removing the arm Action Note Jog the robot so that the covers can be easily accessed and removed. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 143 Remove the body cover top screws. xx1400002904 Remove the body cover. xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 144 Removing the axis-1 covers Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 146 Two persons working together are required to perform this procedure. Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 147 Remove the arm from the body. CAUTION The cabling is still connected inside the robot, be careful not to strain the cables! xx1800001495 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 148 CAUTION The controller weighs 13 kg. Support the weight of the controller! xx1500000365 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 149 Leave these screws for now. CAUTION Be careful not to squeeze any cabling dur- ing the refitting procedure. xx1400002608 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 150 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 151 Release the brakes and rotate axis 1 in or- der to access all the screws. xx1500000543 Turn off the electric power supply again. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 152 Refit the lower axis-1 cover. Screws: 3HAC050368-005 (4 pcs). Nuts: 9ADA267-1 (4 pcs). Tightening torque: 0.14 Nm. xx1400002606 xx1400002604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 153 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 154 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 155 407. tion option is valid for the robot. DANGER Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 156: Replacing The Encapsulation And Covers
436. Consumables Consumable Article number Note Locking liquid Loctite 454 Replacing the arm covers Location of arm covers xx1500000604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 157 Lower axis-4 cover, 0.14 Nm ESD coated 3HAC050535-001 Axis-3 body cover, Cover J 0.14 Nm ESD coated (3HAC050532-001) Cover L (3HAC050542-001) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 158 3HAC074222-001 is used with robot Type A. See Robot description on page 419 for robot type. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 159: Motors
It is recommended to exchange the complete arm in case of a broken axis-1 motor. Replacing the complete arm on page 141 The axis-1 motor can be replaced by ABB, contact your local ABB for more information. Product manual - IRB 14000 3HAC052983-001 Revision: P ©...
Page 160: Replacing The Axis-2 Motor
The axis-2 motor is located as shown in the figure. xx1400002792 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 161 Cleaning agent Isopropanol Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 162 This figure shows an overview of which covers to remove to get access to the spare part. Detailed instructions of how to remove the covers are found in the removal procedure. xx1500000425 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 163 Removing the body covers Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 164 Remove the body cover top screws. xx1400002904 Remove the body cover. xx1500000303 Remove the back screws of the lower body cover. xx1500000540 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 165 Removing the axis-1 covers Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 167 Turn the lower axis-1 cover in order to ac- Screws:M2x8 8.8 (4 pcs). cess all screws properly and remove the lower axis-1 cover. xx1400002604 xx1400002606 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 168 R1.FB2R / R1.FB2L CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 169 Lifting the motor out creates a hole into the gear, make sure no dirt falls into the hole. xx1500000522 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 170 Fitting a new o-ring on the motor Action Note Wipe the o-ring groove of the motor clean. Motor M93: 3HAC072394-001. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 171 Wipe the contact surfaces of the motor and wave generator clean from any contamina- tion with cleaning agent applied on a cloth or paper. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 172 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 173 The flat surface is pointed out in the figure. Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 174 Tightening torque: 0.6 Nm. xx1500000518 Axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 175 Technical reference manu- al - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 176 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 177 1 Nm first, then final cross-tighten to 2.5 Connect the motor connectors: • R1.MP2R / R1.MP2L • R1.FB2R / R1.FB2L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 178 Refitting the axis-2 covers Action Note Refit the lower axis-2 cover. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002612 xx1500000087 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 179 Refit the lower axis-1 cover. Screws: 3HAC050368-005 (4 pcs). Nuts: 9ADA267-1 (4 pcs). Tightening torque: 0.14 Nm. xx1400002606 xx1400002604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 180 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 181 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 182 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 183: Replacing The Axis-7 Motor
It is recommended to exchange the complete arm in case of a broken axis-7 motor. Replacing the complete arm on page 141 The axis-7 motor can be replaced by ABB, contact your local ABB for more information. Product manual - IRB 14000 3HAC052983-001 Revision: P ©...
Page 184: Replacing The Axis-3 Motor
The axis-3 motor is located as shown in the figure. xx1400002794 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 185 Cleaning agent Isopropanol Required documents Document name Document number Note Technical reference manu- 3HAC042927-001 al - Lubrication in gearboxes Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 186 This figure shows an overview of which covers to remove to get access to the spare part. Detailed instructions of how to remove the covers are found in the removal procedure. xx1400002862 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 187 Removing the axis-3 motor Action Note DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 189 Fitting a new o-ring on the motor Action Note Wipe the o-ring groove of the motor clean. Motor M92: 3HAC036900-001. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 190 Wipe the contact surfaces of the motor and wave generator clean from any contamina- tion with cleaning agent applied on a cloth or paper. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 191 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 192 The flat surface is pointed out in the figure. Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 193 Tightening torque: 0.6 Nm. xx1500000518 Axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 194 Technical reference manu- al - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 195 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 196 Correct cable routing is highly important. If the cables are routed and secured incor- rectly the cables can be damaged. xx1500000573 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 197 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 198: Replacing The Axis-4 Motor
The axis-4 motor is located as shown in the figure. xx1400002795 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 199 Content is defined in section Standard toolkit on page 436. Fixture tool for wave generat- 3HAC054904-001 Used for axes 4 and 5 of IRB 14000 no- or M91 type-specified and axis 6 of both robot types. See Robot description on page 419 for robot type.
Page 200 DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 201 Remove the lower axis-4 cover. xx1400002756 Remove the axis-3 body cover. xx1400002754 Remove the upper axis-3 cover. xx1400002755 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 202 R1.FB4R / R1.FB4L CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 203 Remove the flange screws and washers, and lift the motor together with the flange and wave generator out carefully. xx1900002069 Removing the wave generator from the motor (IRB 14000 no-type-specified) Action Note Remove the wave generator from the motor shaft by removing the set screw(s) and then pulling it off the shaft.
Page 204 4 Repair 4.4.5 Replacing the axis-4 motor Continued Removing the flange and wave generator from the motor (IRB 14000 Type A) Action Note Remove the wave generator from the motor shaft by removing the set screw(s) and then pulling it off the shaft.
Page 205 Replace if damaged. If needed, lubricate the o-ring with some grease for a better fitting in the groove. xx1900002072 Fitting the wave generator to the motor (IRB 14000 Type A) Action Note Wipe the contact surfaces of the motor, flange and wave generator clean from any contamination with cleaning agent applied on a cloth or paper.
Page 206 Type of grease and total amount is de- scribed in Technical reference manu- al - Lubrication in gearboxes. xx1900002074 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 207 Tighten the set screws. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1900002077 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 208 Technical reference manu- ing are lubricated as well. al - Lubrication in gearboxes. xx1900002079 Fitting the wave generator to the motor (IRB 14000 no-type-specified) Action Note Wipe the contact surfaces of the motor and wave generator clean from any contamina- tion with cleaning agent applied on a cloth or paper.
Page 209 Type of grease and total amount is de- scribed in Technical reference manu- al - Lubrication in gearboxes. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 210 Note CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 211 Screws: 3HAC050367-039 (2 pcs). Tightening torque: 0.3 Nm. xx1400002758 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 212 Washers: 3HAC073135-001 (2 pcs). Tightening torque: 0.4 Nm. xx1900002069 Connect the motor connectors: • R1.MP4R / R1.MP4L • R1.FB4R / R1.FB4L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 213 Correct cable routing is highly important. If the cables are routed and secured incor- rectly the cables can be damaged. xx1500000583 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 214 Tightening torque: 0.14 Nm. xx1400002754 Refit the lower axis-4 cover. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002756 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 215 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 216: Replacing The Axis-5 Motor
The axis-5 motor is located as shown in the figure. xx1400002796 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 217 Content is defined in section Standard toolkit on page 436. Fixture tool for wave generat- 3HAC054904-001 Used for axes 4 and 5 of IRB 14000 no- or M91 type-specified and axis 6 of both robot types. See Robot description on page 419 for robot type.
Page 218 DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 219 R1.FB5R / R1.FB5L CAUTION Whenever parting/mating motor and gear- box, the gears may be damaged if excess- ive force is used. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 220 Remove the flange screws and washers, and lift the motor together with the flange and wave generator out carefully. xx1900002141 Removing the wave generator from the motor (IRB 14000 no-type-specified) Action Note Remove the wave generator from the motor shaft by removing the set screw(s) and then pulling it off the shaft.
Page 221 CAUTION Keep the wave generator clean. Removing the flange and wave generator from the motor (IRB 14000 Type A) Action Note Remove the wave generator from the motor shaft by removing the set screw(s) and then pulling it off the shaft.
Page 222 Replace if damaged. If needed, lubricate the o-ring with some grease for a better fitting in the groove. xx1900002072 Fitting the wave generator to the motor (IRB 14000 Type A) Action Note Wipe the contact surfaces of the motor, flange and wave generator clean from any contamination with cleaning agent applied on a cloth or paper.
Page 223 Type of grease and total amount is de- scribed in Technical reference manu- al - Lubrication in gearboxes. xx1900002074 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 224 Tighten the set screws. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1900002077 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 225 Technical reference manu- ing are lubricated as well. al - Lubrication in gearboxes. xx1900002079 Fitting the wave generator to the motor (IRB 14000 no-type-specified) Action Note Wipe the contact surfaces of the motor and wave generator clean from any contamina- tion with cleaning agent applied on a cloth or paper.
Page 226 Type of grease and total amount is de- scribed in Technical reference manu- al - Lubrication in gearboxes. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 227 For IRB 14000 (no-type-specified) PTFE film on axis-5 and axis-6 motors: 3HAC051316-001 Check the PTFE film. Replace if damaged. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 228 Screws: 3HAC050367-039 (2 pcs). Tightening torque: 0.3 Nm. xx1400002790 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 229 Washers: 3HAC073135-001 (2 pcs). Tightening torque: 0.4 Nm. xx1900002141 Connect the motor connectors: • R1.MP5R / R1.MP5L • R1.FB5R / R1.FB5L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 230 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 231: Replacing The Axis-6 Motor
The axis-6 motor is located as shown in the figure. xx1400002797 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 232 Content is defined in section Standard toolkit on page 436. Fixture tool for wave generat- 3HAC054904-001 Used for axes 4 and 5 of IRB 14000 no- or M91 type-specified and axis 6 of both robot types. See Robot description on page 419 for robot type.
Page 233 Jog axis 6 clockwise (facing the tool flange) to the limiting position -229° so that the cable will stay in place when removing the cover. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 234 Remove the lower axis-4 cover. xx1500000360 Remove the upper axis-4 cover. xx1500001735 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 235 Removing the axis-6 motor Action Note DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 237 Place the wave generator on a clean work- bench, if not instantly fitting it to a new motor. CAUTION Keep the wave generator clean. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 238 Wipe the contact surfaces of the motor and wave generator clean from any contamina- tion with cleaning agent applied on a cloth or paper. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 239 Axis 7 and axis 3: Fixture tool for wave generator M92, 3HAC054871-001. xx1500000527 Axis 6: Fixture tool for wave generator M91, 3HAC054904-001. xx1500001646 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 240 The flat surface is pointed out in the figure. Axis 1, axis 2, axis 3 and axis 7. xx1500000528 Axis 6. xx1500001647 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 241 Tightening torque: 0.6 Nm. xx1500000518 Axis 6. Screw: M2-set screw (2 pcs). Tightening torque: 0.2 Nm. xx1500001648 Remove the fixture. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 242 Technical reference manu- al - Lubrication in gearboxes. Axis 1, axis 2, axis 7, axis 3. xx1500000557 Axis 6. xx1500001649 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 243 Check the PTFE film. PTFE film on axis-5 and axis-6 motors: 3HAC051316-001 Replace if damaged. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 244 Screws: 3HAC050367-039 (2 pcs). Tightening torque: 0.3 Nm. xx1500000542 Connect the motor connectors: • R1.MP6R / R1.MP6L • R1.FB6R / R1.FB6L Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 245 Refitting the covers Action Note Refit the cooling flange. Screws: 3HAC050368-005 (3 pcs). Tightening torque: 0.2 Nm. xx1500000602 xx1400002867 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 246 Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1500000360 Refit the axis-6 cover. Screws: 3HAC050368-005 (3 pcs). Tightening torque: 0.2 Nm. xx1400002760 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 247 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 248: Mechanical Stops
The mechanical stop is located as shown in the figure. xx1500000739 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 249 DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 250 Screws:M2x8 8.8 (2 pcs). Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002601 xx1400002605 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 251 4.5.1 Replacing the axis-1 mechanical stop Continued Action Note Remove the upper screws of the lower axis- 1 cover. xx1500000565 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 252 Turn the lower axis-1 cover in order to ac- Screws:M2x8 8.8 (4 pcs). cess all screws properly and remove the lower axis-1 cover. xx1400002604 xx1400002606 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 253 Turn off the electric power supply again. Remove the mechanical stop by removing the two screws and washers. xx1500000738 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 254 Temporarily turn on the power to the robot and release the brakes. xx1500000412 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 255 Refit the lower axis-1 cover. Screws: 3HAC050368-005 (4 pcs). Nuts: 9ADA267-1 (4 pcs). Tightening torque: 0.14 Nm. xx1400002606 xx1400002604 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 256 Tightening torque: 0.2 Nm. Note Be aware of the tab underneath the cover so it does not get damaged. xx1400002603 xx1500000564 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 257 Refit the two remaining screws of the body cover. Screws: 3HAC050367-005 (2 pcs). Tightening torque: 0.2 Nm. xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 258 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 259: Replacing The Axis-2 Mechanical Stop
The mechanical stop is located as shown in the figure. xx1500000740 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 260 DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 261 4.5.2 Replacing the axis-2 mechanical stop Continued Action Note Remove the axis-7 cover. xx1400002691 Remove the lower axis-2 cover. xx1400002614 xx1400002615 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 262 DANGER Turn off the electric power supply again. Remove the two screws and remove the cable collar. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 263 Refit the mechanical stop with the screws Mechanical stop for axis 2: 3HAC047602- and washers. Screws: 3HAB3409-241 (2 pcs). Tightening torque: 0.4 Nm. xx1500000488 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 264 Refitting the covers Action Note Refit the axis-2 cable cover. Screws: 3HAC050368-005 (5 pcs). Tightening torque: 0.14 Nm. xx1500000256 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 265 Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002691 Concluding procedure Action Note Re-calibrate the robot. Calibration on page 395. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 266 4.5.2 Replacing the axis-2 mechanical stop Continued Action Note CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 267: Replacing The Axis-7 Mechanical Stop
The mechanical stop is located as shown in the figure. xx1500000748 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 268 DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 269 Removing the axis-7 mechanical stop Action Note DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 270 Refitting the covers Action Note Refit the axis-7 inner cable protection. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1500000743 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 271 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 272: Replacing The Axis-3 Mechanical Stop
The mechanical stop is located as shown in the figure. xx1500000750 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 273 DANGER Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 274 Remove the lower axis-4 cover. xx1400002756 Remove the axis-3 body cover. xx1500000091 Remove the upper axis-3 cover. xx1500000093 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 275 Turn off all electric power supply to the ro- bot, before entering the safeguarded space. Turn on the power to the robot temporarily. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 276 Turn off the electric power supply again. Remove the mechanical stop by removing the two screws and washers. xx1500000753 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 277 Temporarily turn on the power to the robot and release the brakes. xx1500000489 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 278 Tightening torque: 0.14 Nm. xx1500000091 Remove the lower axis-4 cover. Screws: 3HAC050368-005 (4 pcs). Tightening torque: 0.14 Nm. xx1400002756 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 279 Action Note Re-calibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 280: Controller
The computer is located as shown in the figure. xx1500000369 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 281 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 282 Removing the computer Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 283 Disconnect the connection (underneath com- puter): A35.J1 D-NET Tilt the computer out and remove it from the con- troller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 284 Fasten the cabling with cable ties. CAUTION Be careful not to bend or break the cables and air hoses. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 285 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Connect the grounding cable. xx1500000601 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 286 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 287 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 288: Replacing The Controller Fan
The controller fan is located as shown in the figure. xx1500000309 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 289 Remove the bottom cover. CAUTION Be careful not to damage the cables. xx1500000310 Disconnect the fan connector: • E1.XS1 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 290 Refitting the fan Use this procedure to refit the fan. Refitting the fan Action Note Connect the fan connector. • E1.XS1 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 291 Be careful not to damage the cables. xx1500000310 Concluding procedure Action Note CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 292: Replacing The Capacitor Bank
The capacitor bank is located as shown in the figure. xx1500000265 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 293 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 294 Disconnect the capacitor bank connector, cut cable ties if necesssary: • PDB.X7 xx1500000307 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 295 Place the new capacitor bank and tighten the at- Capacitor bank: 3HAC025562-001 tachment screws. Screws: M5x8 8.8-A2F (4 pcs). Tightening torque: 0.8 Nm xx1500000305 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 296 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 297 Connect the grounding cable. xx1500000601 Refit the body cover with the attachment Screws: 3HAC052487-001 (6 pcs). screws. Tightening torque: 0.9 Nm xx1500000697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 298 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 299: Replacing The Power Supply
The power supply is located as shown in the figure. xx1500000306 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 300 Be careful not to damage the cables. xx1500000268 Remove the plastic covers on the connectors on the side of the power supply. xx1500000286 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 301 Connect the cables on the side of the power sup- ply. • G1.SK2 • G1.(-) • G1.(+) • G1.N • G1.L • Fasten the cables with cable ties. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 302 Fasten the robot with the attachment screws. Recalibrate the robot. Calibration on page 395. CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 303: Replacing The Power Distribution Board
The power distribution board is located as in the figure. xx1500000269 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 304 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 305 G2.XS2 (X2) • G2.XS1 (X1) • G2.XS3 (X3) • G2.XS6 (X6) • G2.XS5 (X5) • G2.XS7 (X7) • G2.XS4 (X4) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 306 G2.XS5 (X5) • G2.XS7 (X7) • G2.XS4 (X4) Put two cable ties around the plate and the G2.X8 connector. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 307 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Connect the grounding cable. xx1500000601 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 308 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 309 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 310: Replacing The External Power Distribution Board
The external power distribution board is located as shown in the figure. xx1500000399 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 311 Remove the attachment screws that fasten the controller to the body. xx1500000364 Put a trolley beneath the controller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 312 Removing the external power distribution board Action Note Disconnect the connector G2.1.X1. Remove the attachment screws. xx1500000400 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 313 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 314 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 315 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 316: Replacing The Axis Computer
The axis computer is located as shown in the figure. xx1500000351 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 317 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 318 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 60 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 319 Use this procedure to refit the axis computer. Refitting the axis computer Action Note Connect the connector: • A42.XS1 (X1, underneath) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 320 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 321 Connect the grounding cable. xx1500000601 Refit the body cover with the attachment Screws: 3HAC052487-001 (6 pcs). screws. Tightening torque: 0.9 Nm xx1500000697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 322 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 323: Replacing The Left Arm's Drive Board
The drive board is located as shown in the figure. xx1500000413 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 324 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 325 Removing the I/O board Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 326 Remove two attachment screws on the side. xx1500000420 Gently pull the SMB unit out to loosen the latches from the recesses. xx1500000421 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 327 • A52.X9 Remove four attachment screws. xx1500000426 Remove two attachment screws. xx1500000427 Pull out the left arm's drive board. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 328 Refit four attachment screws. Screws: M3x6 8.8-A2F (4 pcs). Tightening torque: 0.2 Nm xx1500000426 Connect the connector: • A52.X9 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 329 Tighten two attachment screws. Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000417 Connect the battery connector (X3). Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 330 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Connect the grounding cable. xx1500000601 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 331 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 332 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 333: Replacing The Right Arm's Drive Board
The drive board is located as shown in the figure. xx1500000413 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 334 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 335 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 60 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 336 Remove two attachment screws. xx1500000431 Put the EtherNet switch bracket downwards. Gently pull the drive board out. xx1500000432 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 337 Connect the connectors: • A51.X1 • A51.X2 • A51.X3 • A51.X6 Connect the connectors: • A51.X8 • A51.X9 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 338 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Connect the grounding cable. xx1500000601 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 339 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 340 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 341: Replacing The I/O Board
The I/O board is located as shown in the figure. xx1500000401 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 342 Removing the I/O connectors Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 343 Connect the connectors: • IO.X5 (X5) • IO.X1 (X1) • IO.X2 (X2) • IO.X3 (X3) • IO.X4 (X4) xx1500000415 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 344 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 345: Replacing The Smb Boards
The SMB board is located as shown in the figure. xx1500000414 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 346 Removing the I/O board Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 347 Make sure that all supplies for electrical power and air pressure are turned off. Disconnect the battery connector (X3) Remove two attachment screws. xx1500000417 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 348 3HAC048550-001 xx1500000422 Tighten two attachment screws on the side. Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000420 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 349 Action Note Refit the body cover with the attachment Screws: 3HAC052487-001 (8 pcs) screws. Tightening torque: 0.9 Nm xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 350 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 351: Replacing The Ethernet Switch
The EtherNet switch is located as shown in the figure. xx1500000423 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 352 Disconnect the connectors (cut cable ties if neces- sary): • A33.X2 (X2) • A33.X3 (X3) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 353 Gently push the holder latches into the recesses. Tighten two attachment screws. xx1500000424 Connect the connectors: • A33.X2 (X2) • A33.X3 (X3) Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 354 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 355: Replacing The Mass Memory Card
The mass memory card is located as shown in the figure. xx1500000561 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 356 Gently push the memory card until it clicks and then pull the card straight out. xx1300000807 Slot for memory card Mass memory card Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 357 Refit the bottom cover and tighten the screws. Screws: M3x6 8.8-A2F (4 pcs). Tightening torque: 0.2 Nm CAUTION Be careful not to damage the cables. xx1500000310 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 358: Replacing The Expansion Board Complete
The expansion board complete is located as shown in the figure. xx1500000369 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 359 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 360 Removing the computer Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 361 Disconnect the connection (underneath com- puter): A35.J1 D-NET Tilt the computer out and remove it from the con- troller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 362 Note Do not remove the attachment screws, only loosen them. xx0700000193 A Attachment screw (2 pcs) B Fastening mechanism Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 363 CAUTION Be careful not to stretch the fan cable. xx1300000684 Attachment screw (4 pcs) Cover Disconnect the fan connector. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 364 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 60 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 365 The unit is sensitive to ESD on page 60 Connect the fan connector. CAUTION Be careful not to stretch or squeeze the fan cable. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 366 CAUTION Make sure that the adapter is pushed straight onto the rails. Push carefully so no pins are damaged. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 367 Connect the and tighten the connector (under- neath computer) A35.J1 D-NET Slide the computer downwards to fit the latches in the recesses. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 368 Gently push the controller into the robot body completely. CAUTION Be careful not to squeeze or damage the cables and air hoses in any way. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 369 Connect the grounding cable. xx1500000601 Refit the body cover with the attachment Screws: 3HAC052487-001 (6 pcs). screws. Tightening torque: 0.9 Nm xx1500000697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 370 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 371: Replacing The Devicenet Master
The DeciveNet master is located as shown in the figure. xx1500000561 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 372 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 373 Removing the computer Action Note DANGER Make sure that all supplies for electrical power and air pressure are turned off. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 374 Disconnect the connection (underneath com- puter): A35.J1 D-NET Tilt the computer out and remove it from the con- troller. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 375 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 60 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 376 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 60 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 377 Be careful not to stretch or squeeze the fan cable. Fasten the computer cover with its attachment screws. xx1300000684 Attachment screw (4 pcs) Cover Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 378 (Depending on which connection is installed) Connect the connector: • Profibus/S: A32.2 • Ethernet/IP/S: A32.1 • ProfiNet/S: A32.3 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 379 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 380 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 381 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 382: Replacing The Fieldbus Adapter
The fieldbus adapter is located as shown in the figure. xx1500000369 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 383 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 384 A Attachment screw (2 pcs) B Fastening mechanism Grip the loosened attachment screws and gently pull the fieldbus adapter straight out. xx1500001755 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 385 Push carefully so no pins are damaged. Fasten the fieldbus adapter with its attachment screws. xx0700000193 Attachment screw (2 pcs) Fastening mechanism Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 386 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 387: Brake Release Harness
The brake release harness is located as shown in the figure. xx1500000737 Required spare parts Note The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the IRB 14000 via myABB Business Portal, www.abb.com/myABB. Spare part Article number Note...
Page 388 The unit is sensitive to ESD on page 60 xx1500000525 xx1500000303 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 389 Make sure that all supplies for electrical power and air pressure are turned off. Disconnect the brake release harness connector. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 390 Brake release harness, through the mounting hole. 3HAC038361-001 CAUTION Be careful not to bend or break the cables. xx1500000746 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 391 Refit the attachment screws that fasten the Screws: 3HAC16446-4 (10 pcs). controller to the body. Tightening torque: 0.9 Nm. xx1500000364 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 392 Refit the two remaining screws of the body Screws: 3HAC050367-005 (2 pcs). cover. Tightening torque: 0.2 Nm xx1500000696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 393 Screws: M3x6 8.8-A2F (2 pcs). Tightening torque: 0.2 Nm xx1500000525 CAUTION Make sure all safety requirements are met when performing the first test run. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 394 This page is intentionally left blank...
Page 395: Calibration
If the robot has Absolute Accuracy calibration, it needs to be calibrated for new absolute accuracy after fine calibration has been performed. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 396: Calibration Method
Under this condition, all the seven joints' positions are pre-determined, and all of the axes can be calibrated at the same time. The fine calibration method is used for all IRB 14000 robots and is the recommended method in order to achieve proper performance.
Page 397 Continued YuMi AbsAcc Recovery When replacing a complete arm of the IRB 14000 robot, Absolute Accuracy can be recovered by using the Absolute Accuracy of the arm that has not been replaced. Service routine YuMiAbsAccRecovery and YuMi AbsAcc Recovery tool (3HAC063555-001) are required.
Page 398: Calibration Scale And Correct Axis Position
This illustration shows the positions of the calibration scales and marks on the robot. The number next to the enlargement corresponds to the axis number. xx1500000526 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 399: Calibrating The Robot
There is a tolerance for the joint position. The edge of a mark should be at least within the area of the opposite mark. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 400 Select Debug and tap PP to Main. Select Debug and tap Call Routine... Select CalHall. Go to Motor On and press the Start button. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 401 Action In the calibration with hall sensors routine (CalHall), tap 1 to select the function of fine calibration. xx1400002694 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 402 Joints 1, 2, 3 and 4 are selectable in the first window. Tap Next to open the second window where joints 5, 6 and 7 are selectable. xx1500000658 xx1500000659 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 403 Calibration order: axis 1-2-3-4-5-6-7. Note This procedure may take several minutes. xx1400002697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 404 5.4 Calibrating the robot Continued Action When the sampling of hall sensors is finished, tap OK to confirm. xx1400002898 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 405 Moving the robot to its calibration position on page 399 Running the fine calibration procedure on page 403 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 406 5 Calibration 5.4 Calibrating the robot Continued After calibration Action Note Refit any tools or customer cables previously re- moved from the arm. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 407: Calibrating The Robot For Absolute Accuracy
If the tool is damaged in any way it must be replaced. Absolute Accuracy data for arm Enclosed in the spare part deliv- ery. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 408 It is recommended to make a new Absolute Accuracy calibration of the robot using CalibWareField instead, if the arms have been replaced cross-wise more than four times. Contact ABB Service for calibration with CalibWareField after the limited times of replacements have been reached.
Page 409 Attachment screws: M2.5x8. En- screws. closed with the tool. Rotate the turning disc to access each screw hole. xx1700001249 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 410 The figure shows the position into which the robot arms should be moved, after the YuMi AbsAcc Recovery tool has been installed. The joint angles will be specified on the FlexPendant. xx1700001248 YuMi AbsAcc Recovery tool Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 411: Updating Revolution Counters
Select Debug and tap PP to Main. Select Debug and tap Call Routine... Select CalHall. Go to Motor On and press the Start button. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 412 In the calibration with hall sensors routine (CalHall), tap 2 to select the function of updating the revolution counters. xx1400002694 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 413 Joints 1, 2, 3 and 4 are selectable in the first window. Tap Next to open the second window where joints 5, 6 and 7 are selectable. xx1400002695 xx1400002696 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 414 Calibration order: axis 1-2-3-4-5-6-7. Note This procedure may take several minutes. xx1400002697 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 415 5.6 Updating revolution counters Continued Action When the sampling of hall sensors is finished, tap OK to confirm. xx1400002898 Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 416 (Calibration order: axis 1-2-3-4-5-6-7.) • The hall sensor is defect. Perform troubleshooting of I/O signals. Possible replacement of hall sensor may be required. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 417: Calibration Movement Directions For All Axes
Positive directions are shown in the graphic below. This is normally handled by the robot calibration software. Calibration movement directions, 7 axes xx1500000254 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 418: Verifying The Calibration Position
Calibration scale and correct axis pos- axes align correctly. If they do not, then ition on page 398 Updating revolution update the revolution counters! counters on page 411. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 419: Robot Description
6.1 Robot type description Type A of IRB 14000 The difference between IRB 14000 and IRB 14000 Type A is that the Type A has a reinforced design on the arm. As a result of this, the following parts differ between types: •...
Page 420 6.1 Robot type description Continued Robot dimension xx1900001958 IRB 14000 (no-type-specified) IRB 14000 Type A 137 mm 146 mm Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 421 Type A is available for selection as below only in RobotStudio 2019.5.3 or later and RobotWare 6.10.2 or later. xx2000002171 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 422 This page is intentionally left blank...
Page 423: Decommissioning
These parts must also be disposed of in accordance with the current legislation of the country in which the robot and control unit are installed. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 424: Environmental Information
Incineration must be carried out under controlled conditions in accordance with local regulations. Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 425 Spills can form a film on water surfaces causing damage to organisms. Oxygen transfer could also be impaired. • Spillage can penetrate the soil causing ground water contamination. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 426: Scrapping Of Robot
• When motors are removed from the robot, the robot will collapse if it is not properly supported before the motor is removed. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 427: Reference Information
8 Reference information 8.1 Introduction General This chapter includes general information, complementing the more specific information in the different procedures in the manual. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 428: Applicable Standards
Deviations from ISO 10218-1:2011 for IRB 14000 ISO 10218-1:2011 was developed with conventional industrial robots in mind. Deviations from the standard are motivated for IRB 14000 in the table below. More information about ISO 10218-1 compliance is given in technote_150918.
Page 429 Deviation for IRB Motivation 14000 §5.7.3 & §5.8.3 En- The enabling device The IRB 14000 robot is intended for collab- abling device on FlexPendant is not orative applications where contact between active. robot and the operator is harmless. An en- abling device does not further contribute to a risk reduction.
Page 430 Robots and robotic devices - Safety requirements - Industrial collaborative workspace Only valid for arc welding robots. Replaces IEC 61000-6-4 for arc welding robots. Only robots with protection Clean Room. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 431: Unit Conversion
2.21 lb. Weight 0.035 ounces Pressure 1 bar 100 kPa 14.5 psi Force 0.225 lbf Moment 1 Nm 0.738 lbf-ft Volume 0.264 US gal Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 432: Specification Of Screws
Torx pan head screw M5x12 A2-70 9ADA618-47 Torx pan head screw M5x25 8.8-A2F 9ADA624-24 Torx pan head screw M3x10 8.8-A2F Continues on next page Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 433 Dimension, class and treatment 9ADA624-45 Torx pan head screw M5x16 8.8-A2F 9ADA267-1 M2 DIN934 8 ELZN 9ADA267-4 M4 Steel 8-A2F 9ADA267-5 M5 Steel 8-A2F Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 434: Screw Joints
8.5 Screw joints 8.5 Screw joints General This section describes how to tighten the various types of screw joints on ABB robots. The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.
Page 435: 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 436: Standard Toolkit
Wrench 7 mm Wrench 8 mm The standard torque screwdriver should be calibrated to the torque value specified in the repair procedures, in advance. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 437: Special Tools
Robot description on page 419 for robot type. iii Used together with fixture tool for wave generator M91 on axes 4 and 5. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 438: Lifting Accessories And Lifting Instructions
This implies that the instructions delivered with the lifting accessories should be stored for later reference. Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 439: Index
DC, 20 load, 81 Diagnostic Coverage, 20 loads on foundation, 51 drive board Local replacing, 323 Base, 103 lock and tag, 36 lubricants, 42 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 440 22 screw joints, 434 signals safety, 23 regional regulations, 36 SMB board release brakes, 44 replacing, 345 replacements, report, 137 speed Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 441 52 validity and responsibility, 19 symbols velocity safety, 23 adjusting, 115 system integrator requirements, 36 weight, 50 temperatures robot, 62, 65 Product manual - IRB 14000 3HAC052983-001 Revision: P © Copyright 2015 - 2021 ABB. All rights reserved.
Page 444 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 2015 - 2021 ABB. All rights reserved. Specifications subject to change without notice.

ABB IRB 14000 Product Manual

1 Safety

2 Installation and Commissioning

3 Maintenance

4 Repair

5 Calibration

6 Robot Description

7 Decommissioning

8 Reference Information

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