ABB M2004 System Settings
  1. Manuals
  2. Brands
  3. ABB Manuals
  4. Robotics
  5. M2004
  6. System settings

ABB M2004 System Settings

Welding robot station
Hide thumbs Also See for M2004:
Table of Contents

Advertisement

Quick Links

Download this manual
System Settings
Welding Robot Station
M2004, IRC5
3HEA 801233-001 Rev.-, 2005-08

Advertisement

Table of Contents
loading

Related Manuals for ABB M2004

Summary of Contents for ABB M2004

  • Page 1 System Settings Welding Robot Station M2004, IRC5 3HEA 801233-001 Rev.-, 2005-08...
  • Page 2 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- rization.

  • Page 3: Table Of Contents

    Contents 1 Safety instructions System Settings M2004, IRC5 1.1 Description 1.2 Warning symbols (signals) 1.2.1 DANGER – Ensure that the main power switch is turned off. 3 1.2.2 WARNING – The unit is sensitive to ESD. 2 Calibrating the robot and the additional axes 2.1 Updating the revolution counter...
  • Page 4 7.3 Limitations 7.4 Syntax 7.5 Related information 3HEA 801233-001 Rev.-, 2005-08...

  • Page 5: Safety Instructions

    Safety instructions 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.

  • Page 6: Warning Symbols (Signals)

    Safety instructions Warning symbols (signals) 1.2 Warning symbols (signals) The different types of warnings are set out in the following chapters according to the Symbol explanations 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.

  • Page 7: Danger - Ensure That The Main Power Switch Is Turned Off

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

  • Page 8: Warning - The Unit Is Sensitive To Esd

    Safety instructions WARNING – The unit is sensitive to ESD. 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.

  • Page 9: Calibrating The Robot And The Additional Axes

    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...
  • Page 10 Calibrating the robot and the additional axes Updating the revolution counter Action Info/Illustration 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.

  • Page 11: Manual Setting Of The Calibration Values

    The measure is only necessary if the system has lost the calibration values (resolver values). The chapter describes the procedure for all robot and positioner axes where there are calibration values are available. Action Info/Illustration 1. Tap ABB, to open the service window. 3HEA 801233-001 Rev.- 2005-08...
  • Page 12 Calibrating the robot and the additional axes Manual setting of the calibration values Action Info/Illustration 2. Tap Calibration. 3. Tap on the mechanical unit to be calibra- ted. When the unit concerned is not visible in the window, use the scroll bar arrows, in the lower part of the window.
  • Page 13 Calibrating the robot and the additional axes Manual setting of the calibration values Action Info/Illustration 8. Confirm the value by tapping OK. 9. The system awaits a response: • Tap Yes to restart. 3HEA 801233-001 Rev.- 2005-08...

  • Page 14: Recalibrating The Axes

    • Be precise when adjusting the position of the axis so that it lies in the centre of marking. The marking is made up of a machined groove or a machined notch on the gearbox respective faceplates. 2. Tap ABB, to open the service window. 3. Tap Calibration. 3HEA 801233-001 Rev.- 2005-08...
  • Page 15 Calibrating the robot and the additional axes Positioners of the types A, L and MTC Action Info/Illustration 4. Tap on the mechanical unit to be calibra- ted. When the unit concerned is not visible in the window, use the scroll bar arrows, in the lower part of the window.
  • Page 16 Calibrating the robot and the additional axes Positioners of the types A, L and MTC Action Info/Illustration 10. The system awaits a response: • Tap Calibrate, to confirm recalibration. (10) 11. Tap Close. (11) 3HEA 801233-001 Rev.- 2005-08...

  • Page 17: Welding Gun With Swan Neck

    Definition of the tool data (tload) Definition of the tool data (tload) 3 Definition of the tool data (tload) 3.1 Definition of the tool data (tload) These are the movement related data that should be defined first. All movement is dependent on this definition.

  • Page 18: Setup Welding Gun Without Bullseye

    Definition of the tool data (tload) Setup welding gun without BullsEye® 3.2 Setup welding gun without BullsEye® The position of the robot and its movements are always related to its tool coordinate system, i.e. the TCP and tool orientation. To get the best performance, it is important to define the tool coordinate system as correctly as possible.

  • Page 19: Speed Data For External Axes

    Speed data for external axes 4 Speed data for external axes Use the following max. speed data for IRBP-axis: IRBP-positioner MTC 250 180 degree/s MTC 750 150 degree/s MTC 2000 90 degree/s MTC 5000 39 degree/s MIC 1.1 90 degree/s MIC 1.2 90 degree/s MIC 2.1...
  • Page 20 Speed data for external axes 3HEA 801233-001 Rev.- 2005-08...

  • Page 21: Safe Position

    Drivers Safe position 5 Drivers Before start using the station for production you should run the following setups. General 5.1 Safe position This should be a position where the robot is free from the IRBP positioner working area. The first time that you start the program execution you will be asked to setup the safe position for the robots.
  • Page 22 Drivers Safe position Action Info/Illustration 3HEA 801233-001 Rev.- 2005-08...

  • Page 23: Irbp Positioner Interchange Calibration

    Drivers IRBP positioner Interchange calibration 5.2 IRBP positioner Interchange calibration 5.2.1 IRBP positioner with mechanical stops If your IRBP positioner is of type B, C, D, K or R and has mechanical stop. In order to get the right torque against the stop you must calibrate the positions for side 1 and side 2.
  • Page 24 Drivers IRBP positioner with mechanical stops Action Info/Illustration 5. Tap OK Move the robot to a safe position for the calibration. • Press Start. 6. The interchange calibration is finished. • Tap OK. 3HEA 801233-001 Rev.- 2005-08...

  • Page 25: Irbp Positioner Without Mechanical Stops

    Drivers IRBP positioner without mechanical stops 5.3 IRBP positioner without mechanical stops IRBP positioner of type C-index. In order to get the right position you must calibrate the position for side one. The first time that you start production you will be asked to do an interchange cali- bration.
  • Page 26 Drivers IRBP positioner without mechanical stops Action Info/Illustration 5. Tap OK. Move the robot to a safe position for the calibration. • Press Start. 6. The interchange calibration is finished. • Tap OK. 3HEA 801233-001 Rev.- 2005-08...

  • Page 27: Working Positions

    Drivers Working positions 5.4 Working positions These positions will speed up and simplify your process. You will be guided through a setup of load position, process position and service position for each one of your mechanical units. 5.4.1 Load position A load position is the position the side towards the operator will be in after the interchange.
  • Page 28 Drivers Process position 3HEA 801233-001 Rev.- 2005-08...

  • Page 29: Identification Of Load Data For Positioners Irbp

    Identification of load data for positioners IRBP Load Identification for IRBP L /C 6 Identification of load data for positioners IRBP Since the data of the different loads that can be mounted on the external positioner can be quite difficult to compute, there is a load identification procedure which com- putes the necessary load data by moving the positioner.

  • Page 30: Parameters And Movements

    Identification of load data for positioners IRBP Parameters and movements 6.1.1 Parameters and movements The parameters that are identified are: centre of gravity in a plane perpendicular to Parameters the axis, and moments of inertia around the axis, see Figure 4. Note that the mass of the load must be known in advance.

  • Page 31: Load Identification For Irbp K

    Identification of load data for positioners IRBP Load Identification for IRBP K 6.2 Load Identification for IRBP K A simplified view of positioner IRBP K is shown in Figure 6. Load identification is allowed on axes 2 and 3 for this positioner. Load identification can only be performed when axis 1 is in one of its end positions.

  • Page 32: Load Identification For Irbp R

    Identification of load data for positioners IRBP Load Identification for IRBP R 6.3 Load Identification for IRBP R A simplified view of the IRBP R positioner is shown in Figure 7. The parameters that are identified are: centre of gravity in a plane perpendicular to the axis, and three moments of inertia at the centre of gravity.

  • Page 33: Load Identification For Irbp A, B And D

    Identification of load data for positioners IRBP Load Identification for IRBP A, B and D 6.4 Load Identification for IRBP A, B and D A simplified view of positioner IRBP A/ B/ D is shown in Figure 8. When the iden- tification is performed, the positioner must be positioned so that the z-axis is hori- zontal.
  • Page 34 Identification of load data for positioners IRBP Load Identification for IRBP A, B and D 3HEA 801233-001 Rev.- 2005-08...

  • Page 35: Mechunitload Defines A Payload For A Mechanical Unit

    MechUnitLoad Defines a payload for a mechanical unit 7 MechUnitLoad Defines a payload for a mechanical unit MechUnitLoad is used to define a payload for an external mechanical unit. (The payload for the robot is defined with instruction GripLoad) When using the drivers MechUnitLoad is built in. This instruction should be used for all mechanical units with dynamic model in servo to achieve the best motion performance.

  • Page 36: Arguments

    MechUnitLoad Defines a payload for a mechanical unit Arguments 7.1 Arguments MechUnitLoad MechUnit AxisNo Load MechUnit (Mechanical Unit) Data type: mecunit The name of the mechanical unit. AxisNo (Axis Number) Data type: num The axis number, within the mechanical unit, that holds the load. Load Data type: loaddata The load data that describes the current payload to be defined.
  • Page 37 MechUnitLoad Defines a payload for a mechanical unit Limitations Example Figure 11. A mechanical unit named IRBP_K of type IRBP K with three axes. MoveL homeside1, v1000, fine, gun1; ..ActUnit INTERCH; The whole mechanical unit INTERCH_K is activated. MechUnitLoad INTERCH, 2, workpiece1; Defines payload workpiece1 on the mechanical unit INTERCH axis 2.
  • Page 38 MechUnitLoad Defines a payload for a mechanical unit Related information 7.5 Related information Described in: Identification of payload for external LoadID&CollDetect mechanical units • Program muloadid.prg Mechanical units Data Types- mecunit Definition of load data Data Types - loaddata Instructions - GripLoad Definition of payload for the robot Data Types - tooldata 3HEA 801233-001 Rev.- 2005-08...
  • Page 40 3HEA 801233-001 Rev.- 2005-08...

This manual is also suitable for:

Irc5

Table of Contents