robotics user manual - abb · pdf file1.3typesofmanuals operatingmanuals...

Product specificationRobot user documentation

Trace back information:Workspace R14-1 version a5Checked in 2014-04-07Skribenta version 4.0.378

Product specificationRobot user documentation

Document ID: 3HAC024534-001Revision: AB

© Copyright 2004-2014 ABB. All rights reserved.

The information in this manual is subject to change without notice and should notbe construed as a commitment by ABB. ABB assumes no responsibility for any errorsthat may appear in this manual.Except as may be expressly stated anywhere in this manual, nothing herein shall beconstrued as any kind of guarantee or warranty by ABB for losses, damages topersons or property, fitness for a specific purpose or the like.In no event shall ABB be liable for incidental or consequential damages arising fromuse of this manual and products described herein.This manual and parts thereof must not be reproduced or copied without ABB'swritten permission.Additional copies of this manual may be obtained from ABB.The original language for this publication is English. Any other languages that aresupplied have been translated from English.

© Copyright 2004-2014 ABB. All rights reserved.ABB AB

Robotics ProductsSe-721 68 Västerås

Sweden

Table of contents7Overview of this specification ..........................................................................................................

91 Introduction91.1 Easy-to-use information products .........................................................................101.2 User documentation DVD ...................................................................................111.3 Types of manuals ..............................................................................................131.4 Languages and article numbers ...........................................................................

152 Robotics user manuals152.1 DVD documentation ...........................................................................................162.2 Operating manuals ............................................................................................182.3 Technical reference manuals ...............................................................................192.4 Application manuals ..........................................................................................232.5 Product manuals ...............................................................................................272.6 Product specifications ........................................................................................

3HAC024534-001 Revision: AB 5© Copyright 2004-2014 ABB. All rights reserved.

Table of contents

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Overview of this specificationAbout this product specification

This specification lists all active user documentation for ABB Robotics products.

Revisions

DescriptionRevision

Released April 2011, R11.1.T

Released October 2011, R11.2.UStructure of the chapters modified.

Released April 2012, R12.1.V

Released October 2012, R12.2.X

Released April 2013, R13.1.YAdded Turkish manuals.

Released October 2013, R13.2.Z

Released February 2014.AA

Released April 2014, R14.1.AB


Overview of this specification

1 Introduction1.1 Easy-to-use information products

Introduction to Robot User DocumentationThe Robot User Documentation is aimed at all robot users, providing easy to useinformation and guidelines as well as in-depth descriptions and detailed referenceliterature. There is a robot user document for each stage of use, from installationand commissioning, through programming, operation and maintenance, totroubleshooting and decommissioning of your robot system.ABB's group of skilled editors provide professional user documentation, ensuringefficient communication of robot expertize, from our engineers to your personnel.

Key benefits• Easy-to-use user documentation• In-depth reference information• Detailed product information• Maintenance and service procedures

Acessing the user documentationAll robot user documentation can be ordered on a DVD. Updated versions of alluser documentation can be found in ABB Library (inside.abb.com/library). ABBLibrary is a fast and easy way to find updated robot information and can beaccessed by all ABB employees.

Printed manualThere is one manual that is delivered also as a printed version together with therobot system. The manual is Operating manual - Emergency safety information,which is translated into 18 languages.


1 Introduction1.1 Easy-to-use information products

1.2 User documentation DVD

IntroductionThe documentation DVD includes the user documentation for all standard roboticsproducts. The robot user documentation is translated into 18 languages, includinga number of Asian languages, according to the EU machine directive. Documentsthat are not translated are available in English.

Note

There is one DVD with user information for IRC5 with main computer DSQC 639and RobotWare 5.15.xx, and one DVD for IRC5 with main computer DSQC1000and RobotWare 5.6x. See DVD documentation on page 15.

Updates of the documentation DVD are released at every major product change(manipulators, controllers, and RobotWare).The documentation browser appears automatically on your PC screenwhen startingthe DVD.

Ordering the DVDThe robot user documentation DVD is ordered using the standard RobotSpecification form.

Help for searching the DVD fasterAll files on the DVD can be searched in one operation in Adobe Acrobat. To searchall files takes quite a long time, but you can create an index to make it faster tosearch the next time. How to set up an index is described in Adobe Acrobat Help(press F1 in Acrobat).

10 3HAC024534-001 Revision: AB© Copyright 2004-2014 ABB. All rights reserved.

1 Introduction1.2 User documentation DVD

1.3 Types of manuals

Operating manualsThe operating manuals are directed to persons with first hand contact with therobot system, that is production operators, programmers, and service personnel.

Technical reference manualsThe technical reference manuals include reference information for the products.The technical reference manuals for RAPID and system parameters describe thecontroller software. The manuals include syntax and detailed information oninstructions, functions, and data types in the RAPID language and on systemparameters.

Application manualsThe application manuals describe RobotWare base functionality and options,directed to specific applications, such as RobotWare Arc, Spot, Dispense, IntegratedVision. The content includes:

• Purpose of the option: For what is the option intended?• What is included in the option, for example RAPID instructions, system

parameters.• Which hardware is required, for example cables and I/O boards.• Setup, programming, and configuration examples.

RobotWare application manualsApplication manual - Motion functions and events, 3HAC18152-1This manual explains the basics of RobotWare base functionality and options:

• World Zones• Fixed Position Events• Independent Axis• Path Recovery• Path Offset

Application manual - Motion performance, 3HAC18153-1This manual explains the basics of RobotWare options:

• Advanced Shape Tuning• Absolute Accuracy• Wrist Move

Application manual - Motion coordination and supervision, 3HAC18154-1This manual explains the basics of RobotWare options:

• Collision Detection• Sensor Synchronization• Analog Synchronization

Application manual - Servo motor control, 3HAC020436-001

Continues on next page3HAC024534-001 Revision: AB 11


1 Introduction1.3 Types of manuals

This manual explains the basics of RobotWare base functionality and options:• Servo Tool Change• Servo Tool Control• Electronically Linked Motors

Application manual - Robot communication and I/O control, 3HAC020435-001This manual explains the basics of RobotWare base functionality and options:

• File and Serial Handling• Fieldbus Command Interface• Logical Cross Connections• Analog Signal Interrupt• PC Interface• FTP and NFS Client• Socket Messaging• RAPID Message Queue

Application manual - Engineering tools, 3HAC020434-001This manual explains the basics of RobotWare base functionality and options:

• Multitasking• Advanced RAPID• Sensor Interface• Auto Acknowledge Input

Product manualsThere is a product manual for each robot and controller. The content includes:

• Safety information• Installation and commissioning• Maintenance (maintenance schedules and preventivemaintenance routines)• Repair (lists of spare parts and repair procedures)• Calibration procedures• Decommissioning procedures• Reference information• Part list or reference to separate spare part list• Foldouts or exploded views• References to circuit diagrams

Product specificationsThere is a product specification for each product. The content varies dependingtype of product but usually includes:

• Description• Variants and options


1 Introduction1.3 Types of manualsContinued

1.4 Languages and article numbers

Article numbersThe article number for a manual or the documentation DVD is the same for alllanguages except for the subnumber (language code).Example:

TitleArticle number

Operatörshandbok - IRC5 med FlexPendant3HAC16590-2

Manuale dell'operatore - IRC5 con FlexPendant3HAC16590-7

Product manual - IRC53HAC047136-001

Produkthandbuch - IRC53HAC047136-003

Language codesThe manuals are available in the following languages (with matching subnumber).

SubnumberLanguage codeLanguage

0011enEnglish

0022svSwedish

0033deGerman

0044frFrench

0055esSpanish

0066ptPortugese

0077itItalian

0088daDanish

0099nlDutch

01010zh or zh-cnChinese (simplified)

01111koKorean

01212jaJapanese

01313fiFinnish

01414cs or czCzech

01515plPolish

01616ruRussian

01717huHungarian

01818trTurkish


1 Introduction1.4 Languages and article numbers

2 Robotics user manuals2.1 DVD documentation

Article numbersThe documentation DVD contains all languages.

Option numberTitleArticle number

808-1DVD documentation,DSQC639

3HAC032875-001

808-1DVD documentation,DSQC1000

3HAC048193-001


2 Robotics user manuals2.1 DVD documentation

2.2 Operating manuals

Article numbers

TitleArticle number

Operating manual - Emergency safety information3HAC027098-001(English, Swedish, German, French, Spanish, Portuguese,Italian, Danish, Dutch, Chinese, Korean, Japanese, Finnish,Czech, Polish, Russian, Hungarian, Turkish)

Operating manual - General safety information3HAC031045-001(English, Swedish, German, French, Spanish, Portuguese,Italian, Danish, Dutch, Chinese, Korean, Japanese, Finnish,Czech, Polish, Russian, Turkish)

Operating manual - Getting started, IRC5 and RobotStudio3HAC027097-001(English, Swedish, German, French, Spanish, Portuguese,Italian, Danish, Dutch, Chinese, Korean, Japanese, Finnish,Czech, Polish, Russian, Turkish)

Operating manual - IRC5 with FlexPendant3HAC16590-1(English, Swedish, German, French, Spanish, Portuguese,Italian, Danish, Dutch, Chinese, Korean, Japanese, Finnish,Czech, Polish, Russian, Turkish)

Operating manual - RobotStudio3HAC032104-001(English, German, French, Spanish, Italian, Chinese, Japan-ese)

Operating manual - Trouble shooting IRC53HAC020738-001(English, Swedish, German, French, Spanish, Portuguese,Italian, Danish, Dutch, Chinese, Korean, Japanese, Finnish,Czech, Polish, Russian, Turkish)

Operating manual - Calibration Pendulum3HAC16578-1(English, German, French, Spanish, Italian, Chinese, Korean)

Operating manual - Service Information System3HAC025709-001(English, German, French, Spanish, Italian)

Operating manual - Introduction to RAPID3HAC029364-001(English, German, French, Spanish, Italian)

Operating manual - IRBP /D20093HAC038435-001(English, German, French, Spanish, Italian)

Introduction and Safety - Arc Welding Products3HEA801212-001(English, Swedish, German, French, Spanish, Italian, Dutch)

System description - Arc Welding Products, IRC53HAC031146-001(English, German, French, Spanish, Italian)

Operating manual - Arc Welding Products, IRC53HAC031147-001(English, German, French, Spanish, Italian)

Operating manual - Seam tracking with Weldguide andMultiPass

3HEA802921-001

(English, German, French, Spanish, Italian)

Operating manual - Plastics Mould and DieCast3HAC024764-001(English, Swedish, German, French, Spanish, Italian, Dutch,Chinese, Japanese)

Continues on next page16 3HAC024534-001 Revision: AB


2 Robotics user manuals2.2 Operating manuals

TitleArticle number

Operating manual - ArcWelding PowerPac3HAC028931-001(English)

Operating manual - Bending PowerPac3HAC036590-001(English)

Operating manual - Machining PowerPac3HAC030420-001(English)

Operating manual - Palletizing PowerPac3HAC042340 -1(English)

Operating manual - RobotWare Machine Tending3HAC044397-001(English)


2 Robotics user manuals2.2 Operating manuals

Continued

2.3 Technical reference manuals

Article numbers

TitleArticle number

Technical referencemanual - RAPID Instructions, Functionsand Data types

3HAC16581-1

(English, German, French, Spanish, Italian)

Technical reference manual - RAPID kernel3HAC16585-1(English)

Technical reference manual - RAPID overview3HAC16580-1(English, German, French, Spanish, Italian)

Technical reference manual - System parameters3HAC17076-1(English, German, French, Spanish, Italian)

Technical reference manual - Lubrication in gearboxes3HAC042927-001(English)


2 Robotics user manuals2.3 Technical reference manuals

2.4 Application manuals

Hardware options

TitleArticle number

Application manual - Additional axes and stand alone con-troller

3HAC021395-001

(English)

Application manual - Electronic Position Switches3HAC027709-001(English, German, French, Spanish, Italian)

Application manual - SafeMove3HAC030053-001(English, German, French, Spanish, Italian)

Application manual - Integrated PLC3HAC037311-001(English)

Fieldbus options

TitleArticle number

Application manual - DeviceNet3HAC047125-001(English, German)

Application manual - DeviceNet Lean3HAC034095-001(English)

Application manual - EtherNet/IP Fieldbus Adapter3HAC047126-001(English)

Application manual - EtherNet/IP3HAC047127-001(English)

Application manual - INTERBUS3HAC023009-001(English, German)

Application manual - PROFIBUS3HAC047128-001(English, German)

Application manual - PROFIBUS Fieldbus Adapter3HAC047129-001(English, German)

Application manual - PROFIenergy Device3HAC046416-001(English)

Application manual - PROFINET Fieldbus Adapter3HAC047132-001(English)

Application manual - PROFINET master/slave3HAC031975-001(English, German)

Application manual - PROFINET3HAC047133-001(English)

RobotWare options

TitleArticle number

Application manual - Continuous Application Platform3HAC16584-1(English)



2 Robotics user manuals2.4 Application manuals

TitleArticle number

Application manual - Conveyor tracking3HAC16587-1(English, German)

Application manual - Discrete application platform3HAC16586-1(English)

Application manual - Engineering tools3HAC020434-001(English, German)

Application manual - Force Control for Assembly3HAC025057-001(English)

Application manual - Force Control for Machining3HAC027595-001(English)

Application manual - Integrated Vision3HAC044251-001(English, German, French, Spanish, Chinese, Japanese)

Application manual - Motion coordination and supervision3HAC18154-1(English)

Application manual - Motion functions and events3HAC18152-1(English, German)

Application manual - Motion performance3HAC18153-1(English, German)

Application manual - MultiMove3HAC021272-001(English, German, French, Spanish, Italian)

Application manual - Picking PowerPac for PickMasterTM33HAC048042-001(English)

Application manual - Plastics Mould and DieCast3HAC025093-001(English, German)

Application manual - Production Manager3HAC024844-001(English)

Application manual - Robot communication and I/O control3HAC020435-001(English, German)

Application manual - Robot Reference Interface3HAC031973-001(English)

Application manual - Servo motor control3HAC020436-001(English)

Application manual - SoftMove3HAC030266-001(English)

Application manual - Tool change support3HAC032189-001(English)

PC software

TitleArticle number

Application manual - PickMaster 33HAC031978-001(English, German, French, Spanish, Italian, Japanese)

Application manual - PickMaster 53HAC025829-001(English)



2 Robotics user manuals2.4 Application manualsContinued

TitleArticle number

Application manual - FlexPendant SDK3HAC036958-001(English)

Application manual - PC SDK3HAC036957-001(English)

Application manual - IRC5 OPC Server help3HAC023113-001(English)

Arc welding

TitleArticle number

Application manual - Arc and Arc Sensor3HAC16591-1(English, German)

Application manual - BullsEye3HAC024846-001(English, German)

Application manual - Laser Tracker Calibration Interface3HAC031094-001(English)

Application manual - Navigator3HAC025810-001(English)

Application manual - Production Monitor3HAC026810-001(English)

Application manual - SmarTac3HAC024845-001(English, German)

Application manual - Torch services3HAC024847-001(English)

Application manual - Weld Data Monitor3HAC027711-001(English)

Signal Description - Arc Welding Products, IRC53HAC031149-001(English)

Software Installation - Arc Welding System, IRC5 Design2006

3HEA802578-001

(English)

System Settings - Welding Robot Station, IRC53HAC031148-001(English)

Applicationmanual - Programming Integrated Power Source3HEA802924-001(English)

Application manual - Fronius TPS 4000/5000 IRC5 Interface3HEA802920-001(English)

Applicationmanual - Programming ABBRPC S-series Integ-rated Power Source

3HAC040395-001

(English, Chinese)

Application manual - Programming Fronius TPS IntegratedPower Source

3HAC040394-001

(English)



2 Robotics user manuals2.4 Application manuals

Continued

Spot welding

TitleArticle number

Application manual - Mechanical Unit Manager3HAC028797-001(English)

Application manual - Servo gun tuning3HAC026820-001(English)

Application manual - Spot options3HAC024762-001(English, German)

Dispense

TitleArticle number

Application manual - Dispense3HAC16593-1(English, German)


2 Robotics user manuals2.4 Application manualsContinued

2.5 Product manuals

Controllers

TitleArticle number

Product manual - IRC53HAC021313-001(English, German, French, Spanish, Italian, Japanese, Rus-sian)

IRC5 of design M2004, maincomputer DSQC 639

Product manual - IRC53HAC047136-001(English, German, French, Spanish, Italian, Japanese, Rus-sian)

IRC5 of design 14, main com-puter DSQC1000

Product manual - IRC5 Compact3HAC035738-001(English, German, French, Spanish, Italian, Chinese)IRC5 of design M2004, main

computer DSQC 639

Product manual - IRC5 Panel Mounted Controller3HAC027707-001(English, German, French, Spanish, Italian)IRC5 of design M2004, main

computer DSQC 639

Product manual - IRC5 Panel Mounted Controller3HAC047137-001(English, German, French, Spanish, Italian)IRC5 of design 14, main com-

puter DSQC1000

Manipulators

TitleArticle number

Product manual - IRB 1203HAC035728-001(English, German, French, Spanish, Italian, Chinese, Japan-ese)

Product manual, spare parts - IRB 1203HAC049098-001(English)

Product manual - IRB 1403HAC027400-001(English, German, French, Spanish, Italian, Japanese)


Product manual - IRB 2603HAC026048-001(English, German, French, Spanish, Italian)




Product manual - IRB 4603HAC039842-001(English, German, French, Spanish, Italian, Chinese)


Product manual - IRB 6603HAC025755-001(English, German, French, Spanish, Italian, Russian)



2 Robotics user manuals2.5 Product manuals

TitleArticle number




Product manual - IRB 14103HAC026320-001(English, German, French, Spanish, Italian, Chinese, Korean)




Product manual - IRB 1600 type A3HAC026660-001(English, German, French, Spanish, Italian, Polish)









Product manual - IRB 4600 Foundry Prime3HAC040585-001(English, German, French, Spanish, Italian)




Product manual - IRB 6620LX3HAC035737-001(English, German, French, Spanish, Italian)



2 Robotics user manuals2.5 Product manualsContinued

TitleArticle number

Product manual, spare parts - IRB 6620LX3HAC049110-001(English)




Product manual - IRB 6650S3HAC020993-001(English, German, French, Spanish, Italian)

Product manual, spare parts - IRB 6650S3HAC049111-001(English)








Product manual - IRBP /D20093HAC037731-001(English, German, French, Spanish, Italian)

Product manual, spare parts - IRBP /D20093HAC038416-001(English)

Product manual - IRBT 4004/6004/7004/IRT 1043HAC028506-001(English, German, French, Spanish, Italian)

Product manual, spare parts - IRBT 4004/6004/70043HAC042864-001(English)

Product manual - RTT 1600/2400L, IRC53HAC031150-001(English, German, French, Spanish, Italian)

Other hardware

TitleArticle number

Product manual - BullsEye3HAC026930-001(English, German, French, Spanish, Italian)

Product manual - DressPack/SpotPack IRB 66203HAC027309-001(English, German, French, Spanish, Italian)



2 Robotics user manuals2.5 Product manuals

Continued

TitleArticle number


Product manual - DressPack/SpotPack IRB 6650S/76003HAC032103-001(English, German, French, Spanish, Italian)


Product manual - Arc welding equipment for IRB 1520ID3HAC043438-001(English, German, French, Spanish, Italian, Chinese)

Product manual - Motor Units and Gear Units3HAC040148-001(English, German, French, Spanish, Italian, Chinese)

Product manual - Process Interface3HAC029959-001(English, German, French, Spanish, Italian)

Product manual - Torch Cleaner TC96501105-501(English, German, French, Spanish, Italian)


2 Robotics user manuals2.5 Product manualsContinued

2.6 Product specifications

Controllers

TitleArticle number

Product specification - Controller IRC5 with FlexPendant3HAC041344-001(English, German, French, Spanish, Italian, Japanese)IRC5 of design M2004, main

computer DSQC 639

Product specification - Controller IRC5 with FlexPendant3HAC047400-001(English, German, French, Spanish, Italian, Japanese)IRC5 of design 14, main com-

puter DSQC1000

Product specification - Controller software IRC53HAC022349-001(English, German, French, Spanish, Italian, Japanese)RobotWare 5.15.xx

Product specification - Controller software IRC53HAC048264-001(English, German, French, Spanish, Italian, Japanese)RobotWare 5.6x

Manipulators

TitleArticle number

Product specification - IRB 1203HAC035960-001(English, German, French, Spanish, Italian, Chinese)

Product specification - IRB 1403HAC041346-001(English, German, French, Spanish, Italian, Japanese)

Product specification - IRB 2603HAC025046-001(English, German, French, Spanish, Italian)


Product specification - IRB 4603HAC039611-001(English, German, French, Spanish, Italian, Chinese)



Product specification - IRB 14103HAC026366-001(English)








2 Robotics user manuals2.6 Product specifications

TitleArticle number




Product specification - IRB 6650S3HAC030822-001(English, German, French, Spanish, Italian)




Product specification - Linear Axis3HAC036094-001(English, German, French, Spanish, Italian)

Product specification - IRBP /D20093HAC038208-001(English)

Product specification - IRBP Y-X3HAC034078-001(English, German, French, Spanish, Italian)

Product specification - IRBT 4004/6004/70043HEA802965-001(English, German, French, Spanish, Italian)

Product specification - RTT 1600/24003HAC028561-001(English, German, French, Spanish, Italian)

Product specification - Motor Units and Gear Units3HAC040147-001(English, German, French, Spanish, Italian, Chinese)

Product specification - PickMaster 33HAC041347-001(English)


Product specification - RobotStudio3HAC026932-001(English)

Product specification - WebWare Server3HAC025796-001(English)

Other

TitleArticle number

Product specification - Integrated Vision3HAC046868-001(English, German, French, Spanish, Italian, Chinese)

Product specification - Motor Units and Gear Units3HAC040147-001(English, German, French, Spanish, Italian, Chinese)




2 Robotics user manuals2.6 Product specificationsContinued

TitleArticle number


Product specification - RobotStudio3HAC026932-001(English)


2 Robotics user manuals2.6 Product specifications

Continued

Contact us

ABB ABDiscrete Automation and MotionRoboticsS-721 68 VÄSTERÅS, SwedenTelephone +46 (0) 21 344 400

ABB AS, RoboticsDiscrete Automation and MotionNordlysvegen 7, N-4340 BRYNE, NorwayBox 265, N-4349 BRYNE, NorwayTelephone: +47 51489000

ABB Engineering (Shanghai) Ltd.5 Lane 369, ChuangYe RoadKangQiao Town, PuDong DistrictSHANGHAI 201319, ChinaTelephone: +86 21 6105 6666

www.abb.com/robotics

3HAC

024534-001,R

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