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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.
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.
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.
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.
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.
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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.
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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.
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.
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.
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:...
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.
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.
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...
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.
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.
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...
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 •...
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...
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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.
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...
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...
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.
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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.
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(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...
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.
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.
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.
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.
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.
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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...
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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.
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.
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:...
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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.
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...
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...
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...
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...
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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.
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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.
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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.
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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.
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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.
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...
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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.
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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.
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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.
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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.
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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.
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...
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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.
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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...
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.
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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.
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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.
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: •...
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.
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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.
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.
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.