ABB IRC5 with T10, Operating Manual

Page 1: ...Operating manual IRC5 with T10 ...

Page 2: ...Trace back information Workspace R17 1 version a4 Checked in 2017 03 20 Skribenta version 5 1 011 ...

Page 3: ...Operating manual IRC5 with T10 RobotWare 6 05 Document ID 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved ...

Page 4: ... ABB for losses damages to persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtained from ...

Page 5: ...Safety signals in the manual 16 1 4 Protective stop and emergency stop 17 2 What is a T10 21 3 Connecting the T10 23 4 Configuration 27 5 Jogging 29 6 Running in production 29 6 1 Starting programs 30 6 2 Stopping programs 31 Index Operating manual IRC5 with T10 5 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved Table of contents ...

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Page 7: ...3HAC047138 001 Product manual IRC5 Compact IRC5 with main computer DSQC1000 3HAC027097 001 Operating manual Getting started IRC5 and RobotStudio 3HAC032104 001 Operating manual RobotStudio 3HAC050941 001 Operating manual IRC5 with FlexPendant Revisions Description Revision Released with RobotWare 6 0 Released with RobotWare 6 02 Added pictures of IRC5 Compact and IRC5 Panel Mounted Controller to s...

Page 8: ...and MultiMove on page 28 B Released with RobotWare 6 05 Updated descriptions of stops in section Protective stop and emergency stop on page 16 Added section Running in production on page 29 C 8 Operating manual IRC5 with T10 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved Overview of this manual Continued ...

Page 9: ...ration Decommissioning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with exploded views or references to separate spare parts lists Circuit diagrams or references to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products Technical reference manual Lubrication in gearbo...

Page 10: ...plication Operating manuals 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 trouble shooters The group of manuals includes among others Operating manual Emergency safety information Operating manual General safety information Operating manual Gett...

Page 11: ...robot or robot system is operated It does not cover how to design for safety nor how to install safety related equipment These topics are covered in the Product Manuals supplied with the robot system Operating manual IRC5 with T10 11 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 1 Safety 1 1 About this chapter ...

Page 12: ...9283 Classification of air cleanliness EN ISO 14644 1i Ergonomics of the thermal environment Part 1 EN ISO 13732 1 EMC Generic emission EN IEC 61000 6 4 option 129 1 EMC Generic immunity EN IEC 61000 6 2 Arc welding equipment Part 1 Welding power sources EN IEC 60974 1ii Arc welding equipment Part 10 EMC requirements EN IEC 60974 10ii Safety of machinery Electrical equipment of machines Part 1 Gen...

Page 13: ...SI RIA R15 06 Safety standard for robots and robotic equipment ANSI UL 1740 Industrial robots and robot Systems General safety require ments CAN CSA Z 434 14 Operating manual IRC5 with T10 13 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 1 Safety 1 2 Applicable standards Continued ...

Page 14: ...ructions are not followed that can lead to serious injury pos sibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc WARNING xx0100000002 Warns for electrical hazards which could result in severe personal injury ...

Page 15: ...NOTE xx0100000004 Describes where to find additional information or how to do an operation in an easier way TIP xx0100000098 Operating manual IRC5 with T10 15 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 1 Safety 1 3 Safety signals in the manual Continued ...

Page 16: ...iew The protective stops and emergency stops are described in the product manual for the controller 16 Operating manual IRC5 with T10 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 1 Safety 1 4 Protective stop and emergency stop ...

Page 17: ...n horizontal direction etc This is achieved thanks to the built in inertial measurement unit consisting of accelerometers and gyroscopes which measure the motion of the device in space The joystick is used for adjusting the jog speed and the positive or negative direction The forward and backward movement of the joystick corresponds directly to the movement of the manipulator which is the most int...

Page 18: ... Description Display A Joystick B Emergency stop button C Enabling device D Continues on next page 18 Operating manual IRC5 with T10 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 2 What is a T10 Continued ...

Page 19: ...mode is se lected if grid mode is active C Jog mode Switches between axis mode and cartesian mode Note that the mechanical unit must be calibrated in order to switch to cartesian mode D Programmable function keys F1 to F4 For more information see Programming the func tion keys on page 24 E The compass button can be used at any time to verify the deviation from the reference direction Press and hol...

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Page 21: ...on an external operator s panel CAUTION Always inspect the connector for dirt or damage before connecting it to the controller Clean or replace any damaged parts IRC5 xx0600002782 Connector A22 X1 L Continues on next page Operating manual IRC5 with T10 21 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 3 Connecting the T10 ...

Page 22: ...r A Connecting a T10 Use the following procedure to connect the T10 jogging device Action If present disconnect the FlexPendant 1 Connect the T10 to the connector 2 22 Operating manual IRC5 with T10 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 3 Connecting the T10 Continued ...

Page 23: ...et the reference direction of the device Point the device parallel to the X direction of the robot base coordinate system and press the button This can be done at any time XB XT10 ZB YB xx1500000866 X direction in the base coordinate system XB Direction of the T10 device XT10 A symbol shows that the reference direction of the device must be set The reference direction determines how the X and Y di...

Page 24: ...sed for dedicated specific functions set by the user see Keypad on page 19 As default the key F1 is configured as AutoAck The other buttons are not configured with any function Any button including F1 can be configured with any of the following settings Description Action No action will be performed default None Acknowledges an auto change AutoAck Moves the program pointer of all tasks to their re...

Page 25: ...0 Function keys in the topic Man machine Communication xx1500001626 For more information see Technical reference manual System parameters and section Configuration editor in Operating manual RobotStudio Operating manual IRC5 with T10 25 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 4 Configuration Continued ...

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Page 27: ...he desired direction and use the joystick to jog either forward or backward along the direction of the device Reorientation Deflecting the joystick to the right or to the left starts a tool reorientation movement if the mechanical unit supports the jog mode When reorienting in grid mode the direction that is closest to the pointed direction of the device will be used Grid mode Grid mode can only b...

Page 28: ...ore than one mechanical unit Cartesian mode for mechanical unit 2 xx1500001757 Axis mode for axis 5 on mechanical unit 2 xx1500001758 Note If the robots in a MultiMove system do not have parallel base coordinate systems the reference direction must be set when changing robot See Setting the reference direction on page 23 X1 X2 Z1 Y1 Z2 Y2 xx1500001627 Base coordinat system for robot 1 X1 Y1 Z1 Bas...

Page 29: ... all necessary preparations are done to the robot and in the robot cell and that no obstacles exist within the robot work area 1 Make sure no personnel are inside the ro bot cell 2 xx0600002782 Select operating mode on the controller with the mode switch 3 C Motors on button D Mode switch Press the Motors on button on the control ler to activate the robot 4 Operating manual IRC5 with T10 29 3HAC05...

Page 30: ...top button on the hardware button set of the jogging device 3 DANGER Do not use the Stop button in an emergency Use the emergency stop button Stopping a program with the Stop button does not mean that the robot will stop moving immediately 30 Operating manual IRC5 with T10 3HAC050943 001 Revision C Copyright 2017 ABB All rights reserved 6 Running in production 6 2 Stopping programs ...

Page 31: ...ve 28 P plus button 19 power on 23 product standards 12 programmable function keys 19 24 programs starting 29 stopping 30 R reference button 19 reference direction 23 referencing 23 reorientation 27 RobotWare option 17 S safety signals 14 signals in manual 14 symbols 14 safety signals in manual 14 safety standards 12 sensor errors 24 signals safety 14 standards 12 ANSI 13 CAN 13 EN 12 EN IEC 12 EN...

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Page 34: ... N 4340 BRYNE Norway Box 265 N 4349 BRYNE Norway Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 www abb com robotics 3HAC050943 001 Rev C en ...