ABB M2004 Instructions d'utilisation

System Settings

Welding Robot Station

M2004, IRC5

3HEA 801233-001 Rev.-, 2005-08

The information in this document is subject to alteration without prior notice and should not be regarded

as an undertaking from ABB Automation Technologies AB. ABB Automation Technologies AB assumes

no responsibility for errors that may occur in this document.

ABB Automation Technologies AB bears no responsibility for damage that is a consequence of using this

document or the software or hardware described in this document.

The document, or parts of it, may not be reproduced or copied without prior permission from ABB Auto-

mation Technologies AB. It may neither be imparted to a third party nor otherwise be used without autho-

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Further copies of this document can be obtained fromABB Automation Technologies AB at current prices.

ABB Automation Technologies AB

Robotics & Manufacturing

SE-69582 Laxå

Sweden

3HEA 801233-001 Rev.-, 2005-08 i

Contents

System Settings

M2004, IRC5

1 Safety instructions 1

1.1 Description 1

1.2 Warning symbols (signals) 2

1.2.1 DANGER – Ensure that the main power switch is turned off. 3

1.2.2 WARNING – The unit is sensitive to ESD. 4

2 Calibrating the robot and the additional axes 5

2.1 Updating the revolution counter 5

2.2 Manual setting of the calibration values 7

2.3 Recalibrating the axes 10

2.3.1 Positioners of the types A, L and MTC 10

3 Definition of the tool data (tload) 13

3.1 Definition of the tool data (tload) 13

3.1.1 Welding gun with swan neck: 13

3.2 Setup welding gun without BullsEye® 14

4 Speed data for external axes 15

5 Drivers 17

5.1 Safe position 17

5.2 IRBP positioner Interchange calibration 19

5.2.1 IRBP positioner with mechanical stops 19

5.3 IRBP positioner without mechanical stops 21

5.4 Working positions 23

5.4.1 Load position 23

5.4.2 Process position 23

6 Identification of load data for positioners IRBP 25

6.1 Load Identification for IRBP L /C 25

6.1.1 Parameters and movements 26

6.2 Load Identification for IRBP K 27

6.3 Load Identification for IRBP R 28

6.4 Load Identification for IRBP A, B and D 29

7 MechUnitLoad Defines a payload for a mechanical unit 31

7.1 Arguments 32

7.2 Program execution 32

ii 3HEA 801233-001 Rev.-, 2005-08

7.3 Limitations 33

7.4 Syntax 33

7.5 Related information 34

Safety instructions

3HEA801233-001 Rev.- 2005-08 1

1 Safety instructions

A robot is heavy and extremely powerful regardless of its speed. A stoppage or

longer stop can be followed by rapid, dangerous movements. Even if the robot's

pattern of movement is predetermined, an external signal can affect the movement

sequence, resulting in unanticipated movement.

It is therefore important that all safety instructions are observed when entering a

safety supervised area.

1.1 Description

Safety instructions can be found under tab 1 in the AW system manual for all steps

that involve risk for personal injury or material damage. In addition, they are

included in the instructions for each step.

General warnings, where the intention is to avoid problems, are only included in the

pertinent instructions.

Reference document

All personnel working with the welding robot system must have full understanding of the

applicable safety instructions.

Document Described in:

Related safety instructions.

AW System manual, chapter introduction and safety

Safety instructions

Warning symbols (signals)

23HEA801233-001 Rev.- 2005-08

1.2 Warning symbols (signals)

Symbol

explanations

The different types of warnings are set out in the following chapters according to the

table below:

Symbol Name Meaning

Danger Warning that serious or life-threatening personal injury and/or

serious damage to the product will occur if the instructions are

not followed.

Warning Warns of the risk of personal injury or serious damage to the

product. Always follow the instructions that accompany this

symbol.

Electric shock Warns of possible electric shock that can cause life-threatening

or serious personal injury. Always follow the instructions that

accompany this symbol.

Caution Draws your attention to the fact that damageto the product may

occur if an action is not performed or is performed incorrectly.

Static

electricity ESD The ESD symbol indicates a risk of static electricity that may

cause serious damage to the product.

Note Information about important parts.

Tips Thissymbol referstoaninstruction providingfurther information

on a particular step.

Safety instructions

DANGER – Ensure that the main power switch is turned off.

3HEA801233-001 Rev.- 2005-08 3

1.2.1 DANGER – Ensure that the main power switch is turned off.

Description

Work with high voltage entails a potential lethal hazard. Persons subjected to high

voltages can suffer heart failure, burns or other serious injuries. To avoid such

injuries, never begin a job without first eliminating the risks to safety. These are

descried below.

Elimination

Action Info/Illustration

1. Turnoffthemainpowerswitchat the

control module.

The main power switch on the

control module switches off the

control voltage to all the drive

modules.

2. Turnoffthemainpowerswitch(work

switch) on the respective drive

module to switch off the feed

voltage.

3. Single robot stations All voltage is lost when the main switch on

the drive module (DM1) is switched off.

Safety instructions

WARNING – The unit is sensitive to ESD.

43HEA801233-001 Rev.- 2005-08

1.2.2 WARNING – The unit is sensitive to ESD.

Description

ESD (electrostatic discharge) is the transfer of electrostatic charges between two

objects with varying charges, either through direct contact or through an electrical

field.

The discharge contains very little electricity and is therefore not hazardous to

humans, however, electronics can be damaged by the high voltages.

Elimination

Location of attachment point for ESD bracelet

Button (A/B) for the ESD bracelet is located on the computer unit in the control

module/drive module. The location is shown in the following figure.

Action Info/Illustration

1. Use an ESD bracelet. The bracelet must be regularly tested to

ensure that it is undamaged and functions

properly.

2. Use an ESD-protected floor mat. The mat must be grounded through a voltage

regulating resistor.

3. Use an ESD-protected table mat. The mat shall produce a controlled discharge

of static electricity and must be grounded.

xx0400001061

Figure 1 Location of attachment point for ESD bracelet

Item Name

A Attachment point for ESD bracelet in the control module.

B Attachment point for ESD bracelet in the drive module.

Calibrating the robot and the additional axes

Updating the revolution counter

3HEA 801233-001 Rev.- 2005-08 5

2 Calibrating the robot and the additional axes

Thischapterdescribes how you update the revolution counter,make manual settings

for calibration values and recalibrate the axes.

2.1 Updating the revolution counter

This measure is necessary when you have entered the calibration values manually

or for some reason need to update one or more of the axes' revolution counters

(resolver) against the synchronization position.

Usually the programmed positions are not affected by an update. If this happens the

entered values may be incorrect or the axis has been updated before programming

at an incorrect position i.e. not by the synchronization markings.

Action Info/Illustration

1. Move the robot's and positioner's axes to their respective zero positions (synchroni-

zation marking).

2. Tap ABB, to open the service window.

3. Tap Calibration.

Tap on the mechanical unit to be cali-

brated.

When the unit concerned is not

visible in the window, use the scroll

bar arrows, in the lower part of the

window.

(2)

(3)

(4)

Calibrating the robot and the additional axes

Updating the revolution counter

63HEA 801233-001 Rev.- 2005-08

5. Tap Revolution Counters.

6. Tap Update Rev. Counters.

7. The system awaits a response:

• Tap YES if you want to proceed.

Select, by tapping, the axes to be

updated.

• Tap Select All to include all the

mechanical unit’s axes.

9. Tap Update.

Action Info/Illustration

(5)

(6)

(7)

(8)

(9)

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