Product Manual

IRB 3000/3200

3HAB 0007-10
May 1993/M93A

AL liii
"PIP
ABB Robotics Products ASEA BROWN BOVERI
 Product Manual, IRB 300013200 M93A
ASEA BROWN BOVERI
SHAG 0007-10/Rev 1

Declaration by th manufacturer .

Configuration Li t

ascription IRB 3000/3200 3HAB 0001-19

Safety, 3HAB 0001-8

Installation IRB 3000/3200 3HAB 0003-20

Installation S3 3HAB 0003-221Rev 1

Maintenance IRB 3000/3200 3HAB 0005-12

Additional Documents (Option, RSI)

The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Robotics Products AB . ABB Robotics Products AB assumes no responsibility for any
errors that may appear in this document .

In no event shall ASS Robotics Products AB be liable for incidental or consequential damages arising from
use of this document or of the software and hardware described in this document .

This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB's
written permission, and the contents thereof must not be imparted to a third party nor be used for any
unauthorized purpose . Contravention will be prosecuted .

Additional copies of this document may be obtained from ABB Robotics Products AB at its then current
charge.

®ABB Robotics Products AB 1993

Article number 3HAB 0007-10

Issued : May 1993

ABB Robotics Products AB

S-721 68 Vasteras
Sweden


Declaration by the manufacturer

as defined by machinery directive 89/392/EEC Annex II B.

Herewith we declare that

the industrial robot manufactured by ABB Robotics Products AB .

Type IRB 2000
Manufacturing No

is intended to be incorporated into machinery or assembled with other machinery to constitute

machinery covered by this directive and must not be put into service until the machinery into
which it is to be incorporated has been declared in conformity with the provisions of the directive,
91/368 EEC .

Applied harmonized standards in particular

EN 292-1
EN 292-2 To the User
EN 418
EN 457 "Declaration by the manufacturer".
EN 563
EN 614-1
EN 775
On delivery, the complete document is placed in the control
EN 60204 system. IEC 204-1

EN 50014 Till anvandaren

prEN 349 uman
"Tillverkar deklaration' .
prEN 574
prEN 953 Vid leveransen fran ABB Robotics fins det kompletta
prEN 954
prEN 50081
dokumentet inlagt i styrskapet.
prEN 50082

IEC 529 Degrees of protection provided by enclosures

IEC 79 Electrical apparatus for explosive gas atmospheres
IEC 255 Electrical relays
IEC 801-2 Electromagnetic compatibility for industrial process measurement and control
equipment. -Electrostatic discharge requirements
IEC 801-3 Electromagnetic compatibility for industrial process measurement and control
equipment . -Radiated electromagnetic field requirements
IEC 801-4 Electromagnetic compatibility for industrial process measurement and control
equipment. -Electric fas transient/burst requirement
DIS 11161 Safety of integrated manufacturing system


ABB Robotics Products AB

Configuration list IRB 3000/3200 M93A

RAC RAC Ref. No. Order No .

Customer Serial No .

CONTENTS

Data sheet
Data sheet
To the User

DOCUMENTATION (700 The Configuration List is an individual specification of the robot

DESCRIPTION system delivered configuration and extent .

Product Manual IRB 3 On delivery, the complete document is placed in the robot cabinet .

Service Manual IRB 3(

TM anvandaren

Service Manual S3 "Configuration List" ar en individuell specifikaton av det levere-

rade robotsystemet avseende uppbyggnad och omfattning .
Programming Manual
rid leveransen fran ABB Robotics finns det komplett dokumentet
Installation inlagt i styrskapeL

0 Tested according to inspection provision 3HAB 3099-3

Date Name
Approved
Date Name
Approved ;:
Date Name
Delivery SEROP
Date Name
Delivery
Date Name
Installation

Issued by Doc. No. Lang Rev Date Sheet No .

E Robertsson/KMK 3HAB 3099-2 en 0 19312 1/1

 Description
1 RB 3000/3200

3HAB 0001-19
May 1993/M93A

AIIIP
P%1919
I

.
ABB Robotics Products ASEA BROWN BOVERI
 l

The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Robotics Products AB . ABB Robotics Products AB assumes no responsibility for any
errors that may appear in this document .

In no event shall ABB Robotics Products AB be liable for incidental or consequential damages arising from
use of this document or of the software and hardware described in this document .

This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB's
written permission, and the contents thereof must not be imparted to a third party nor be used for any
unauthorized purpose . Contravention will be prosecuted .

Additional copies of this document may be obtained from ABB Robotics Products AB at its then current
charge .

® ABB Robotics Products AB 1993

Article number: 3HAB 0001-19

Issued : May 1993

ABB Robotics Products AB

S-721 68 Vasterlcs
Sweden
CONTENTS
Chapter Page

1 INTRODUCTION 1

2 BENEFITS 3
2.1 IRB 3000
2.2 IRB 3200

3 SYSTEM DESCRIPTION 5
3.1 Mechanical unit 6
3.2 Control system 8

4 OPERATION/PROGRAMMING 13
4 .1 Control panel 13
4.1.1 Remote control
4.2 Programming unit 14
4.3 Programming 15
4.3.1 Program design
4.3.2 Movements
4.3.3 Programmable functions
4.3.4 Editing functions
4.3.5 Manually controlled functions

5 TECHNICAL SPECIFICATION 25
5.1 Features 25
5.1.1 Performance
5.1.2 Program capacity
5.1.3 Accumulator capacity
5.1.4 Signal capacity
5.1 .5 Man - machine communication
5.1.6 Working range, IRB 3000
5.1.7 Working range, IRB 3200
5.1.8 Load diagram, IRB 3000
5.1.9 Load diagram, IRB 3200
5 Requirements
.2 35
5.2.1 Environmental requirements
5.2.2 Electrical connections
5.3 Physical data, dimensional drawings 35
5.3.1 Physical data
5.3.2 Dimensional drawings, IRB 3000
5.3.3 Dimensional drawings, IRB 3200
5.3.4 Control Cabinet
5.4 Standards 41

6 SPECIFICATION OF ROBOT SYSTEM 43

SPECIFICATION FORM FOR INDUSTRIAL ROBOT SYSTEM IRB 3000/3200



Description IRB 5000/5200

1 INTRODUCTION
The IRB 3000 and the IRB 3200 industrial robots are both derived from the same
basic robot . By slightly varying the design, the robots have been specially adapted
for their respective purpose.

IRB 3000
is a six-axes robot with an extremely large work volume and is primarily intended
for material handling and machine tending . Since the robot reaches well over half
a car body, the IRB 3000 is also suitable for applications such as gluing, assembly,
water jet cutting, laser cutting and stud welding .

The handling capacity is 30 kg which makes the robot ideally suited for handling
two components weighing approx.10 kg in a dual gripper .

To make it possible to adapt the robot to various applications, a range of peripheral

equipment for material handling and machine tending is available . The peripheral
equipment range includes tool exchangers, gripper holders and several different
gripper units. Power and air supply is available at the grippers . Most important of
all, the peripheral equipment has been made as an integrated part of the robot .

MB 3200
is a further development of ABB Robotics'new robot generation . The robot's
extensive range and slender upper arm makes it specially suitable for sealing of
car bodies. Six degrees of freedom with great flexibility the robot ideal for arc
welding and material handling at installations where long reach is required .

The robot reaches well over an entire car body, thus all robots can be mounted on
the same side of a sealing line . The sealing compound can be led through the upper
arm to the wrist attachment Thus, the risk of hose damages, when coming in
contact with car body edges, is decreased . The sealing compound flow can be
adjusted by an analogue output, proportional to the robot's tool-tip speed .

The handling capacity 10 kg and the very quick movements of the wrist axes are
other important features for sealing applications .
Description IRB 3000/3200


2 BENEFITS IRB 3000/3200

2.1 IRB 3000
The most distinguishing features of IRB 3000 are :

• Reach
• Handling capacity
• Interface capacity
• Floor-space requirement

Reach
The robot can reach over either a double "Euro-pallet" (1600 mm x 1200 mm) or a
42" x 42"-pallet both with a depth of one meter . This working volume makes the robot
extremely useful for palletizing operations, where the robot can palletize layer after
layer on a pallet. Since the 1RB 3000 also reaches well over half a car body, the robot is
very suitable for several process applications where the reach is the deciding factor . The
robot can be suspended from above for an even larger reach .

Handling capacity
The IRB 3000's handling capacity is 30 kg, i.e., it is in a prime-weight category for
material handling and machine tending.

Typically, the weight of parts is kept to a level that can be easily handled by an operator
one part at a time, i.e., approx.10 kg. The IRB 3000 has a pay-load capacity of 30 kg.
This means that a dual gripper could easily handle two parts at a time, or two different
parts for two different jobs .

Programming and communication

The S3 control system makes use of established features like joystick and the robot,
language ARLA, which gives simple and fast programming.

Another important factor is the interface capacity . The S3-controller has the ability to
perform a communication in several different ways . There are digital or analogue I/Os,
computer link to a superior controller available and capability to control up to 6
external axes.

Floor-space requirement
A slender, very agile arm system together with an extremely small "foot-print"
(R = 490 mm) makes the robot very easy to adapt to a wide range of different
applications . For minimum floor space requirements the robot can be suspended from
above.


2.2 IRB 3200

IRB 3200 :s most important characteristics are

• Reach
• Handling capacity
• Supply of material via the upper arm
• Interface capacity
• Floor space requirement

Reach
The robot reaches more than 2 .5 m (calculated to the centre of the wrist) . IRB 3200 can
reach over a car body , which suits the robot for different process applications where
reach is a deciding factor. The robot can be suspended from the ceiling.

Handling Capacity
The handling capacity for IRB 3200 is maximallylO kg, i.e . an appropiate weight class
for welding seam sealing.

Supply of Media
Media, such as sealing material or pressurized air, can be fed through the upper arm .
(Optional.)

Interface capacity and floor space requirements are the same as for IRB 3000 .
These features are described later in this document .
 3 DESCRIPTION

The robot consists of a manipulator and a control unit connected by 2 cables .

Various options and variants are available . These are described in detail in chapter 6 .

The control unit contains the total system electronics, and offers many
opportunities for external communication and control of peripheral equipment .

Operator communication, programming and manual running is performed via a

portable programming unit . Programming can also be performed off-line via a
terminal and an ABB Robotics Off-line Programming Package .

CONTROL SYSTEM
m
CL
Programming unit External I/O
E
V
N
I Floppy disk unit
-H External axes
i
0

Computer link Track motion

Print out

Power
supply
0
0o inte ace
Manipulator

PERIPHERAL EQUIPMENT AND TOOLS

i Conveyor
• '
,
Power Tool System ----~
------------- -----------
supply ------------
L Etc= =

Fig. 3.1 System structure IRB 3000 and IRB 3200

Description MB 3000/3200
5


3.1 Manipulator
The mechanical units IRB 3000 and 3200 are available for either floor mounting, or
inverted suspension .

A main feature is the compact design, especially :

• the minimal body swinging radius ; `'o
,
• the slimmed arm system .

Availability
A lot of effort has been put into making the robot easily serviceable and therefore cable
fault tracing can be done in a few minutes by ABB's personnel . Many units can be
replaced in less than 30 minutes . Only a few special tools are required .

Motor units
All motors are servo-controlled, brushless AC motors, specially adapted for each axis .

Brakes
The robot is, as standard, supplied with electromechanical brakes on all axes. The brakes
are applied when deenergized . The robot is automatically braked at emergency stops, power
failure, or when taken down to MOTOR OFF mode . The brakes are activated after 3 secs
(automatic mode) or after 5 min (manual mode) if the robot is idle in MOTOR ON.

Individual brakes can be manually deactivated by switches on the side of the robot .
The brakes are maintenance-free .

When the brakes are released, the arm system may collapse!

Gearboxes
All gearboxes are manufactured with very high accuracy and are specially adapted for
each axis function .All gears are oil or grease lubricated and require only a minimum of
maintenance.

Balancing system
The robot is equipped with a gas hydraulic system for static balancing of the second
axis . The system is totally closed and does not require any external connections .

The balancing system constitutes a difference between mechanical units designed for
floor mounting or overhead inverted suspension .

Cabling
The cabling is highly modularized and is easy to replace as complete units . The
cables have been arranged for maximum life .

Measurement system and battery unit

The measurement system consists of a resolver on each motor shaft and a measurement
board mounted on the robot.

The resolver is used for gathering speed and position data . The measurement board reads
the resolver feedback signals and generates position information for each axis .

The rechargable battery is used for supply back up to the measurement board during
power off. This prevents the data regarding the number of turns each resolver has made to
be erased due to power failure . The battery is charged continously at power on .

This means that the robot may be restarted directly from its present position after
a system shut down .
.rI''

Description IRE 3000/3200

6
 Movement pattern
The robot's movement pattern can briefly be described as follows (see also the figure
below).

Axis 1 (C)
Turning of the complete mechanical unit .

Axis 2 (B)
Forward and reverse movement of the lower arm .

Axis 3 (A)
Up and down movement of the upper arm .

Axis 4 (D)
Taming of the complete wrist centre .

Axis 5 (E)
Bending of wrist around the wrist centre .

Axis 6 (P)
Turning of mounting flange (turn disc)

Fig. 3.2 Movement structure

Description 1RB 3000/3200

7
 3.2 Control cabinet
External features
Control panel Main functions for robot operation .

Programming unit All functions for robot operation and programming .

Built-in system test.

Floppy disk unit Handles storing/loading of data to/from a floppy

disk.

Winchestermemory Handles storing/loading of data to/from the

(Option) massmemory.

Duty time counter Recording duty time

Monitor Additional display of user programme and process

(Option) messages.

Cooling device (option) Cooling of the electronic .

Connections Control cable connection, process

communication, computer link (option),
program print out (option) .

Fig 3.4 Control cabinet

The look of the cabinet differs, depending on design

Description IRB 3000/3200

8
Description IRB 3000/3200


Eletronic components

Computer board • Contains four microprocessors :

Main computer - for overall control.
Servo computer - for control of servo functions
and robot movements.
Axis computer - for individual control of robot axes .
UO computer - for control of communication with
operator unit, peripheral equipment, host computer
(option) and floppy disc unit.

• Contains all robot primary memory.

System board • Contains circuits for personal safety functions

emergency stop ;
safe guarded stops ;
limit switches ;
etc.

Digital I/O boards Digital process communication.

(option)

Analogue I/O boards Analogue process communication .

(option)

Power unit Contactors for power to the rectifier for the drive units
and power for the brakes.

Rectifier Voltage supply to drive units.

Supply unit Stabilized voltage supply to all electronics, and I/O

and brakes.

Drive units Power amplification for control of motor torque . One

axis per drive unit . (Up to 7 units incl . one integrated
axis.)

Control board for Speed reference signals and connetion

external axis (option) . of resolvers for 1-6 external axes .

Mains transformer


Process connections (option)

The system can handle the following input and output signals from the peripheral
equipment :

• Digital I/O
up to 96 inputs and 96 outputs
Requires 1- 6 digital U0 boards (option)

• Analogue 1/0
- up to 4 inputs and 4 outputs
Requires 1 analogue I/O board (option)
• Combi 1/0
- 16 digital in- and 16 outputs + 2 analogue outputs
Requires 1 AD combi I/0 board (option)
• Computer communication via RS 232 interface .
Requires "Computer link" (option) .
• LO remote bus for Allen Bradly 1771 RIO link, up to 128 in / 128 out (option)
• Control signals for 1-6 external axes .
Requires one extra board (option) .

Drive system
The drive system, for the robot motors and one integrated axis 7 (option), consists
of the following units .

• Computer board for overall control.

• Rectifier unit for power supply to the drive units .
• Drive unit receives current references from the computer
board. The current references control the
power amplifier supplying current to the motor .
• Serial measument board reads the resolver

Control system Manipulator

. i ,
' Drive unit 1 i 1
1 Position Speed Torque Current ; 1
;
11 I
1
1 1 '' 1

Position Speed otor angle ' I , ,,,,,,,,,. ;

11MM 1
' 11ba" 1
1 1 , 1
1

Fig. 3.5 AC drive system, robot axes and integrated axis 7.

Drive unit for optional external axes is located outside the control system .

Thesedrive units are provided with speed referense by the control system .

Separate drive unit

Control cabinet outside control system

Control board, Speed

external axes i
i

I
1
1 Position
L i

Fig. 3 .6 Drive system external axis .

Description IRB 3000/3200

11


Diagnostics
The control system is provided with its own built-in diagnostics with the following
characteristics:

• Test on start-up :
computer board;
programming unit ;
monitor (option) ;
voltage supply unit;
rectifier unit.
location control of 1/O boards and drive units

• During test running, a red LED on the computer board will switch from a
continuous light to a flashing light.

• Successful test running indicated by:

no red LEDs on all units ;
a green LED lights up on the computer board .

• Unsuccessful test running indicated by .

- a red LED lights up on the faulty board ;
- if possible, a fault message appears on the programming unit and on the
monitor (if installed) .

• Running of the control system in a special test mode during service, with the
following functions:
- start-up test;
- full test of the LO boards, jumpers included ;
- test running of the drive units at full voltage ;
- program for cleaning the floppy disk unit read/write heads .


4 OPERATION/PROG NG
4.1 Control panel
Using the control panel, operating modes can be selected and the robot can be switched to
MOTOR ON or MOTOR OFF . Lamps inside the buttons indicate status and any
malfunction . The control panel also includes one of the emergency stop buttons .

Lockable switch for selection of operation mode :

CE
3 Program run at maximum speed
AUTO V Program edit and joystick run is
not allowed.
MANUAL REDUCED SPEED , <250 mm/s Programming and program
running with ma~dmum
speed 250 mm/s .
MANUAL FULL SPEED 100 % Test run at maximum speed.

MOTOR ON mode pushbutton.

MOTOR ON mode is indicated by light inside the button . Indication "External axis not synchronized"
by means of a blinking MOTOR OFF light. The robot motors are activated in the MOTOR ON mode.

MOTOR OFF mode pushbutton.

MOTOR OFF mode is indicated by light inside the button . Indication "ERROR" by means of a
blinking MOTOR OFF light .
The system is activated in the MOTOR OFF mode but not the robot motors.

Emergency stopbutton.

0
C

11^ Fig4.1 Control panel



4.1.1 Remote control

By using the first 8 inputs and outputs on any 1/0 board the following functions can
be remotely controlled :

Control Indication
(input) (output)
Motor on X X
Motor off X X
Program start X X
Program stop X X
Synchronization X X
From disc X X
Lamp test X
Prog. unit lock X
Error X
Emergency stop X

4.2 Programming unit

The programming unit (Fig . 4 .2) is connected to the control system by a 10 m cable
(extension cable 10 m, total 30 m, option) . When not in use, it is placed on a consol
on the door of the control system.

The programming unit is provided with LED displays and membrane buttons with
tactile feedback . The enabling device is located under the emergency stop button .
The enabling device allows the operator to switch between MOTOR ON and
MOTOR OFF when the operating mode selector is in one of the MANUAL
positions .

All operator communications, except selection of the operational mode for the
robot, are available on the portable programming unit . The programming unit is
provided with the following facilities for this purpose :

• An illuminated two-row alphanumeric display for messages in plain language .

The system can display:
- texts in any of 10 languages: English, German, French, Dutch, Italian,
Spanish, Portuguese, Japanese(Katakana) Finnish and Swedish ;
- numerical values in metric or imperial.

• Five multi-function buttons below the panel

The text on the lower row of the display defines the use of the multi-function buttons .

• Six to eight menus for most of the system functions .

Each menu contains a particular type of function, e .g. program editing.

• Joystick
The robot and the external axis are positioned using the joystick, together
with the safety pad and the switches in the upper right-hand corner .


E !'
Fl

U
® E

rig 4.2 Programming unit

4.3 Programming

4.3.1 Program design

The user memory can contain programs numbered from 0 to 9999 . The programs in
the user memory together form a program block . The size of each program can be
adapted as required, provided that the total quantity of programs fit into the user
memory. The programmer has considerable freedom when designing a program
structure - frequently repeated operations, variants of operations and fault routines,
etc. are in separate programs .

Program changes can be effected according to two different principles :

• Within the memory by calling up a program . Callingup in its simplest form involves :
L Interrupting the running of the current program ;
2. Running a different program ;
3. Resuming the running of the current program .

A program which has been called up can in turn call up a third program, etc. up to 10
sub-levels

• The built-in floppy disk unit offers two possibilities:

Replacement of the whole program block. AU programs in the primary memory
are replaced by a new block of programs downloaded from the floppy disk.
After downloading a new program block, the newly loaded block of programs
starts running with program 0 .

Erasure of some programs and addition of a (short) program block . A desired

number of programs in the primary memory are replaced by a down-loaded
block of programs . After downloading a new program block, the current
program block continues running in the primary memory. Some of the old
programs are retained .


4.3.2 Movements

The operator programs a pattern of movements as a number of subsidiary

movements between required positions (point-to-point programming). Each
position is programmed by the operator moving the robot to the desired position
manually . A specific point, known as the work point or the Tool Centre Point
(TCP) moves relative to the robot in a well defined manner . The TCP can be
defined in any selected position and the system can store a number of different
TCPs in its memory.

The operator performs manual operation by using a joystick with three degrees of
freedom. The speed depends on the joystick deflection.

Manual operation

During manual operation the robot axes are able to move in the following
coordinate systems :

• Rectangular base-oriented coordinate system (fixed coordinate system)

TCP

• Axis-oriented robot coordinate system (fixed coordinate system)

• Rectangular wrist-oriented coordinate system (moving coordinate system)

'*~2k .I)]WINW.

n
• Rectangular tool-oriented coordinate system (moving coordinate system)

L-_

cm

Description UM .3000/3=
16


A Tool Centre Line (TCL) can be created by defining a base point (BASEP)
together with the TCP in the wrist-oriented coordinate system . The TCL then
constitutes the x-axis in a tool-oriented coordinate system. The TCL is
mainly based on the orientation of a tool or a gripper relative to the turn plate
and enables a gripper or a tool to be moved parallel to its own configuration .

• Fixed TCP (see Programming manual S3 art. no . 3HAB 0002-2 ).

The function makes the manual operation of the robot, when the robot holds
the workpiece and the tool is fixed mounted in the room . At reorientation of the
workpiece the movement is done in relation to the fixed TCP-point, un-
depended of the position of the robot .

Automatic operation

When the system is operating automatically, the robot will move from its current
position to a programmed position .

Each position is stored in the memory as the position of the TCP together with
either:

• the wrist orientation (wrist-oriented coordinate system) or,

• the tool orientation (tool-oriented coordinate system).

Three different types of automatic running are available :

• Robot coordinate movement .

All axes are individually moved at constant speed towards the programmed
position. All axes reach their respective end position simultaneously .

• Straight-line movement .
The TCP/TCL is moved straight and at constant speed towards a programmed
position. Any reorientation of the wrist or the TCL will be performed
continuously during the movement .

• Modified straight-line movement .

Straight-line movement of TCP but "Robot coordinate" movement of wrist axes.

The system speed is determined by:

• an absolute speed in mm/s or inches/s for the current section of the program ;
• a percentage of the absolute speed for each movement instruction ; .
• an adjustment factor as a percentage of the speed determined by the above
points.


4.3.3 Programmable functions

Position programming instructions

• General parameter.
- Position accuracy ;
- Speed, as a percentage of defined absolute speed .

• Supplementary -parameter.
A position brought :
- directly from a position register ;
- indirectly from a position register via an address in a numerical register .
Position offset value :
- stored directly in an instruction ;
- brought from a numerical register .
Duration, speed replaced by movement time ;
Circular movement.
Continuous rotating external axes .

• Auxiliary functions : (validity within definable program sections)

- Choice of-
- coordinate system ;
- TCP values;
- basic speed.
Displacement:
- translation of a movement pattern by a reference point ;
- translation and rotation of a program by a reference frame ;

• Glue and Air Flow

Glue and Air flow reference signals are put out on two analog outputs at the same
time as the robot is positioned. Due to the lag in the robot movement and the delay
in the gluing equipment, there is also a delay function which enables compensation
during program execution . Furthermore, it is possible to choose whether or not the
Glue or Air Flow should be proportional to the TCP velocity .

• Palletizing function
The positions of all parts on a pallet can quickly be defined by entering the positions of
the parts at three corner points and the number of columns and lines . The plane can
have any slope.

• Relative tool displacement

Execution of movement or rotation in tool-oriented coordinates . The arguments are
set during programming or brought up from a numerical register during program-
med running .

• SWI(can not be used together with Glue and AIR flow)

SWI (Spot Weld Interface) is a software function for control of an external welding
timer. The SWI-instruction contains weld program number and if required, a
register for the opening time of the gun . It is not necessary to have special
subprograms, which makes it very easy to program the robot and optimaize the
program. Further information is given in the Programming Manual S3
Programming Spot Weld.


• Adaptive control
The robot system can be guided by sensors mounted on the robot or on the object . The
robot system can store signal data for a maximum of 16 sensors, and a maximum of 3
out of the 16 sensors can be used during programmed running of an instruction . The
robot system can receive the following types of signals from the sensors :
Digital 24 V signals to ordinary digital inputs ;
Three digital + 24 V signals to the system board ;
An analogue signal of 0 - ± 10 V to an analog input; (Requires at least one optional
analog board)
An asynchronous series signal in accordance with RS 232 to the computer board .

The various programmable functions are :

Search
The robot will search for an object as it moves towards a programmed position .
The search is successful when one of the sensors has found the object .
The result of a search can be used as :
• a parameter for conditional jumps in the program .
• reference for program displacement.

Speed control
A sensor controls the speed during movement towards a programmed position.

Contour following
Sensor signals control the course of the robot during movement towards a pro-
grammed position.

NOTE!
The adaptive functions must be supplemented by sensors.

• Continuous rotating external axes

The external axes can be runned with constant speed independant of robot movements .

• Soft servo
A function giving the robot a compliance individually controllable for each axis. The
force towards the programmed position is proportional to the deviation . Soft servo is
defined individually for each axis . To obtain a "softness" in a certain direction (e .g the
Z-direction), the position of the robot arm must be such that the movement direction
of the axis concerned coincides with the direction of the softness . See figure below.

• In-pos check
Used together with soft servo. A conditional jump may be performed as a result of a
permitted deviation from the programmed position .

Figure 4.3
The direction of the "softness" of axis 3 at different robot arm positions

IRB 3000/3200
19


Control and logical functions

• Programme handling.-
- Call for subprograms :
- direct call ;
- indirect call via numerical registers .
Return
Programme loading from floppy disk :
- replacement of complete program block ;
- addition/replacement of program sections .
Request for superior computer control .

• Programme execution:
- Pause in program running, defined by:
- time ;
- input conditions .
Jump in a program:
- unconditional;
- conditional ;
- search stop condition.
Programme stop.

• LO handling (option) :
- Setting of digital outputs ;
- Reading of digital inputs ;
- Enabling/disabling of direct acting inputs (system 1/O) ;
- Transmission of numerical values between l/0 and numerical registers .

• Register handling,
Storage in numerical registers of-
- numerical values ;
- positioning offset values ;
- current location (x,y z values).
Processing of values stored in numerical registers using the four rules of arithmetic;
Storage of TCP location and wrist orientation .

• Other instructions:
- Comments-
- explaining program codes;
- displaying execution status on the monitor (option) ;
- explaining program stops .
- Gripper control .


4.3.4 Editing functions

• Changing of:
- Instruction
- Position :
- by running the robot ;
- by entering the value.
- external axes
- Arguments in positioning instruction .

• Searching for program or instruction by :

- Entering number,
- Indexing forwards or backwards within the program ;
- Listing of program numbers used ;
- Listing of call-up sequence to the program active .

• Insertion of new instructions.

• Re-numbering of instruction numbers in even tens .

• Erasing of:
- Programs;
- Instructions.

• Copying of
- Programs;
- Instructions.

• Mirroring of a program.

4.3.5 Manually controlled functions

Function test running program

• Running .
Continuously forwards in the program ;
In steps forwards in the program ;
In steps backwards in the program .

• Automatic restart after voltage failure .

• Simulation of
'All conditions satisfied'- to end a pause in running the program ;
'All conditions satisfied' -for jumping within the program .

• Change of position for movement instruction .

Manual operation of the system

• Clearing of program blocks so that :

- The first instruction in program 0 is displayed;
- All registers and outputs are cleared .

• Programme displacement in three dimensions with reference frame

• Handling of-
- Digital inputs . Checking of status ;
- Digital outputs. Checking of status - with possibility of changing status;
- Numerical register. Checking of value - with possibility of changing value .

Description IRB 3000/3200

21


• Use of floppy disks :

Transfer of an entire program block within the memory ;
Addition of an entire program block to the program blocks in the memory ;
Addition of a single program to the program blocks in the memory;
Storage of an entire program block ;
Initiating of floppy disk - erasing of an old floppy disk ;
Loading and storing of back-up stored system parameters .
Erasing of block on floppy disk

• Superior computer control (option) :

Selection of running mode in relation to a superior computer (control from
computer or robot system);
Storing of a program block in the computer ;
Storing of a single program in the computer ;
Loading of a program block from the computer,
Loading of a single program from the computer,
Storing of back-up stored system parameters in the computer ;
Loading of back-up stored system parameters from the computer.

• TCP handling:
- Change or definition of the wrist- or tool-oriented coordinates for the TCP ;
- Direct-acting definition of the TCP ;
- Erasure of TCP.

• Alignment of the tool :

- With one of the rectangular base coordinate axes ;
- With a previously stored orientation .

• Use of system data (system parameters)

- Check on or change of a separate parameter value ;
- Loading of predefined parameter values;
- Loading and storing of back-up stored parameter values .

• Choice of language for information displayed on the programming unit display .

• Listing of (option):
- Messages from the error buffer,
- Single programs.
- System parameters

• A system for off-line programming (option) :

- Definition of positions ;
- Storage of positions in a superior computer .


System parameters

System parameters are a collection of data which allow the user to extensively
adapt the robot system characteristics . Diskette included in delivery . To prevent
loss of data, the parameters can be stored as back-up copies :

• on floppy disk ;
• in a superior computer (option) .

The robot system also contains a default set of the system parameters, stored in
PROM. These parameters allow the system to be operative before the installation
adaption commences.

A number of the characteristics, definable in the system parameters, are:

• Movement optimizing

• AC drive units (robot axes and integrated axis 7) :

- resolver offset in the calibration position ;

• Robot axes:
- working range.

• External axis.

• Metric units or inches .

• I/O board organization . (System U0, SWI, Remote control, Grippers etc .)

• Automatic restart.

• Connection of:
- superior computer;
- printer (option);
- monitor (option) .

• Adaption of robot performance to different loads .

Description IRB 3000/3200
24


5 TECHNICAL SPECIFICATION
5.1 Features

5.1.1 Performance
Type of movement Working range Max. speed
IRB 3000 IRB 3200

Axis 1 (C) Rotation movement + 179,9° - -179,9° 106°/sec 106°/sec

Axis 2 (B) Arm movement +900 - - 110° 100°/sec 100°/sec
Axis 3 (A) Arm movement +600 - - 60° 87°/sec 87°/sec
Axis 4 (D) Wrist movement +200 0 - - 200 0 223°/sec 223°/sec
Axis 5 (E) Bend movement +120 0 - - 120° 224°/sec 300°/sec
Axis 6 (P) Turn movement +300 0 - -300° 213°/sec 300°/sec

Handling capacity
Maximum load 30 kg (IRB 3000)
10 kg (IRB 3200)

Permitted load depending on distance from wrist can be read from the Load diagram,
sections "5 .1 .8 Load diagram, IRB 3000" and "5 .1.9 Load diagram, IRB 3200" .

Max. moment of inertia

5: th axis (E - axis) 3.7 kgm2 (IRB 3000)
6: th axis (P - aids) 0.8 kgm2 (IRB 3000)

Position resolution approx. 0.125 mm

Accuracy (at mounting flange, acc . to ISO/rC 184/SC)

Repetition accuracy (under constant operational
conditions and thermal stability) < ± 0.15 mm (IRB 3000)
< ± 0.2 mm (IRB 3200)

Thermal stability <0.5 mm

5.1.2 Program memory

Number of programs
Main program (number 0) 1
Subprograms (number definable) 1-9999

Program memory
Capacity 32 kword

Number of positions (without logical instructions) :

1-6 axes max . 2 500
7-9 axes max . 1500
10-12 axes max . 1000

5.1.3 Battery capacity

Computer board
Back-up capacity min. 50000 hours
Battery, type 3.6 V lithium
Battery expected life-time 5 years

Description IRB 3000/3200

25


14

Serial measurement board

Battery capacity min. 1000 hrs (4 Ah)
Battery life time 5 years (<50°C)
Recharging time 18 hours

Diskette capacity 7 x 32 kword (448 kbyte)

Winchester capacity (option) 250 x 32 kword

TCP/TCL positions
Number of:
Ordinary 0-19
Fixed TCP 20-29

Definition range
(from mounting flange ) 0 - 1270 mm (IRB3000)
0 - 700 mm (IRB 3200)

Position registers
Number of: 200 (No. 0-199)
(external axes can only be used in register No . 0-95))

Numerical registers
Number of: 120 (Nos . 0-119)
Permissible values 0 - ± 32 767 (16 bits)

5.1.4 Signal capacity (option)

External I/O connection
Digital 0 - 96 inputs / 0 - 96 outputs
Analog 0 - 4 inputs / 0 - 4 outputs

Customer connections on robotarm (option) IRB 3000 IRB 3200

Signals 23 23 50 VDC/250 mA
Power 10 8 250 VAC/2 A
Grounding 1 1
Air (from the foot to upperarm) 1 max 8 bar
Air or other medium (through upperarm) 1 max 200 bar

5.1.5 Man - machine communication

Programming method
Point to point method by:
• interactive . dialogue
• manual running by joystick .
• off-line via terminal

Number of menus 6 standard menus

Aids for the dialogue

Messages from the system Plain language
Choice of language for messages English, + 9 selectable
Display in programming unit Alphanumeric, 2 rows
Number of characters per row 4(+
Aids for data entry Numerical key pad +
5 multi-function keys

Description IRE 3000/3200

26
5.1.6 Working range, IRB 3000

Fig. 5.1 General working area, floor mounted or over-head suspended robot
(option)
75

R=-644

R=1875

Fig 52 Working range for inverted suspension (option)



Fig. 5.3 Examples of the size of work volume related to three typical pallet
sizes:

• Double Euro Pallet (1600 x 1200 mm)

• Euro pallet (1200 x 800 mm)
• 42'x 42" pallet (1100 x 1100 mm)

Description ]ORB 3000/3200

28
5.1.7 Working range, IRB 3200

Fig. 5.4 General working are, floor mounted or over head suspended robot
(optional)
Fig 5.5 Working area at inverted suspension (option)
 5.1.8 Load diagram, IRB 3000

Fig. 5.6 Load diagram excl . swivel unit

Description IRB 3000/3200

31


NOTE!
Max. 15 kg totally
on the upper arm .

> g.5 .9 IRS 3000, the cross lined area indicates maumum allowed load at mass
point for customers equipment

Description UM 300013200
32
5.1.9 Load diagram, IRB 3200

Fig. 5.10 Load diagram

Maximum payload as a function of the location of the mass centre of gravity, relative to
robot mounting .flange.


ENZMEN
0

ROOMER
Max 10 kg Max 2,5 kg B
k

,.A

A-A

Figure 5.11 IRB 3200, the cross lined area indicates mass point for allowed
extra load .

Description IRB 3000/3200

34
 5.2. Requirements
5.2.1 Environmental requirements
Protection standard
Cabinet IP 54(NEMA 12)
Manipulator IP 54(NEMA 12)

Explosive atmosphere
The robot shall not be placed and operated within explosive atmospheres .

Ambient temperature
Mechanical robot + 5° C + 45° C
Control cabinet and programming unit + 5° C + 40° C
(with heat exchanger or air conditioner + 5° C + 45° C)
During transport and storage, complete system - 25° C + 55° C

Relative humidity
Complete robot during operation Max . 95% = = s lc`^^

5 .2.2 Electrical connections

Power supply

Mains voltage 200 - 600 V, 16A, three -phase

Voltage tolerance +12%,-15%

LO (option) can also be supplied from external voltage supplies for galvanic isolation .
See under "6 .2 Control system" ( Input/output capacity) .

Frequency 50/60 Hz
Frequency tolerance t 1 Hz

Power consumption
MOTOR ON, program running 2 kW
MOTOR OFF 300 W

5.3 Physical data, dimensional drawings

5.3.1 Physical data
Weight 750 kg
Control cabinet system 280 kg

Volume
Manipulator unit excl . packing 1550 x 850 x 2200 mm (IRB 3000)
2150 x 850 x 2200 mm (IRB 3200)
Control cabinet system 2065 x 925 x 530

Airborne noise level

The sound pressure level outside the safe
guarded working area < 70 dB (Leq)
5.3.2 Dimensional drawings, IRB 3000

Description
36
 Guide hole

Description IRB 3000/3200

37
 5.3.3 Dimensional drawings, IRB 3200

32 1500 10 260

11

I
0
0
0
w
N

10
M
W

i~ 1!11!1 man

868 850

Description IRB 3000/3200

38
 tl

Y
9 a

5.3.4 Dimensional drawing

Control cabinet

Space required

If the free space (gray zone) around

the cabinet is less than 100 mm, a
heat exchanger or air conditioner is
necessary.

I
i
Cooling device

Front vieew

Pockets for forklift

Description MB 3000/3200
40
5.4 Standards

5.4.1 General
The mechanical robot and the control cabinet have been designed to fulfil the requirements
in IEC 204-1 and SS EN 60204 .

The SS EN 60204 document contains the text from IEC 204-1, but with a number of
modifications and supplements common to CENELEC (Comite Europ6en de Normalisation
Electrotechnique) . EN 60204 is common to all EEC- and EFTA- countries .

5.4.2 Safety.
The robot is designed in accordance with the requirements of ISO 10218, Jan 1992,
Industrial Robots Safety . The robot also fulfils the requirements in the Manchinery
Directive 89/3921EEC as defined in EN 775, October 1992 . The robot also fulfil the
ANSL'RIA 15.06-1992. With the exeption of slow speed definition .

5.4.3 Electromagnetic Compatibility.

The robot which consists of amanipulator IRB 300013200, Control system S3 and control
cables, fulfil the demands in EG :s EMC-directive (89/336/EEC) :

Fulfil thedemands in CISRP 11 (radio frequenc emmisson in the range 30 - 1000 MHz
Conducted interferenses voltages in frequency range 0,15 - 30 MHz.

Fulfil IEC801-3 that means radio frequency immunity (10 V/m in frequency range
26 - 100 MHz).
Description MB 3000/3200
42
6 ROBOT SPECIFICATION
The options are described below with the same headings as the ones on the specification
form.

20 Manipulator version
The specification form refers to robot systems IRB 3000 and IRB 3200 . The differences
between these, regarding design and function/features, are thoroughly described in pre
vious chapters.

21 IRB 3000

22 IRE 3200

30 Mounting
The robot can either be floor mounted or inverted suspended .

The choice of installation affects the design of the hydraulic balancing system . A special
tool is recommended for installing the robot in an inverted position . This is described in
the Installation Manual.

31 Floor mounted

32 Inverted suspended
 40 Application interface (Customer connection)
43 Air and signals to upper arm (MB 3000)

The Air supply and the signal supply is going from the base through the arms to the
upper arm tubular . The air connection is R114" in both ends .
This option require that either of 45 or 65x are choosen .

44 Air and signals to upper arm (IRB 3200)

The signal supply is going the same way as for IRB 3000 .
Air or any other medium, can be connected to the rear end of the upper arm, the output is near
the wrist unit . Dimension for connection is R114" .

Max. medium temperature 50 °C .

Max. medium pressure 200 bar .

This option require that either of 45 or 65x are choosen .

45 Connection of signals to manipulator base R1 .CP and R1.CS .

Number of signals 23 conductors for 50V 250mA, 6 conductors for 250 V 2A, 1 to the ground .
Cabling not included .

65x Connection of signal system to controller . The same number of signals as in option 45 .
Cables for connection between manipulator and control cabinet are avaible .

4 - i

a.

Standard

Options 43 or 44

Connection of signals to the base

Description MR 3000/3200
44


80 Gas pressure in the balancing system at delivery.

88 The balancingsystem on the manupulator to balance the second axis has gas pressure . The gas
is nitrogen .

89 The balancing system on the manipulator has not gas pressure . Before commissioning of the
robot, the balancing system must be filled with 3 .2 litres nitrogen to circa 120 bar .

130 Connection of mains supply

The way the main voltage is connected to the control system can be selected from either
permanent installation or with wall terminals on the left side of the cabinet .

131 Cable gland

Connection is at the mains filter in the control cabinet, the cable being led through a screw cap in
the wall 11-12 mm . diameter.

M962 Wall inlet.

132 CEE connector. Connection via wall terminal as per EEC 309-1, -2, CEE 17 .3 x 16 A with
protective earth . See figure 6 .3.

133 As option 132 but with 3 x 32 A with protective earth .

134 Harting connector 6HSB .

Industrial contact unit as per DIN 41640
35 A 600V, 3 phases + earth protection .
Neutral can also be connected to this terminal . See figure 6 .5.

2•
3
It*
5
so

Fig 6.5 Contact unit

Description IRB 3000/3200

45


140 Mains supply circuit-breaker

141 Rotary switch as per EEC 204, IEC 337-1, VDE 0113 . UL, EN 60204 .

143 As an accessory for the rotary switch there is a 20 A circuit breaker, for protection of the
main voltage in the cabinet .
Ll
According to IEC 898, VDE 0660.

0
r0

--
M0 0
Fig 6.5 Circuit breaker

145 Flange disconnect switch

The control system can be provided with a front-operated flange disconnect switch,
maximum voltage 480 V, with integral 20 A circuit breaker .
The flange disconnect switch is in addition provided with mechanical door interlocking
when the switch is in the ON position .
For service purposes door interlocking can be by-passed using a screwdriver .

Lo ;o

Flange disconnect with circuit breaker (20A)

150 Mains voltage

The robot can be connected to mains voltages between 200 V - 600 V, 3 phase + protective
earth.

151- Transformer 1 Transformer 2 Transformer 3

159 200 V 380/400 V • 200 V
• 230 V • 400/415 V • 220 V
• 440 V • 380 / 400 V
• 475 .V • 400 / 415 V
• 440 V
• 475 V
• 500 V
• 525 V
• 600 V

180 Placing of operator panel

The units for operator communication are an operating panel and a programming unit.

The operating panel, the shelf for the programming unit and the monitor (opt 403) can be
located either:

181 • At the front of the control cabinet '"dw

182 • In a separate unit for operator communication, cable length included 15 m .

Description IBS 300/3200

46


190 Control electronics for external axes

Apart from the six axes of the manipulator, the system can position-control six external
axes. The control cabinet contains parts of the electronics necessary to control the external
axes.
Connection is via contact devices complying with DIN 43652 on the left side of the cabinet.

The following programmable functions also apply to the external axes :

• Running up to a progam position, including the percentage speed value, with or
without stated positional accuracy.

• Parallel displacement of the motion pattern with the help of a reference point .
The result will be a displacement of the pattern along the work envelope for the
axis in question (linear movement), or movement of the motion pattern around
the rotation centre (rotating movement) .

The control cabinet can be equipped as in one of the following alternatives :

191 Integrated axis 7, i .e . drive unit for the axis 7 is located in the control cabinet .
- Integrated axis 7 is designed for track motion IRBT 2000/3000S.

192 Integrated axes 7 and 3 external axis . Same as option 191, there 3 external axis
can be driven .

193 6 external axes

When all external axes drive units are installed outside the control cabinet up to 6
external axes can be driven .
- A maximum motor speed of 3000 rpm is allowed .

MOTORS ON 1
r
100, MU I UHb UN 2 _
Drive DRIVE
Control v BRAKE unit POWER
system
POWER OK

SPEED REF -
% EJNE R ESOLVER

.01
COARSE
RESOLVER

SYNCH
SWITCH

SUPPLY

Fig. 6.6 Signal adaptation for external axes with external drive units

Signals to external drive system:

MOTOR ON (double contacts) Rated data 250 V AC/110 V DC, 1 A

BRAKE, Rated data 250 V AC/110 V DC ., 1 A
Speed reference ± 10 V analogue

Description IRE 3000/3200

47


Motor speed max . 3000 rev/min

Signals from external drive system :

POWER OK 24 V DC from control system

Synchronising switch 24 V DC or resolver supply

Feedback
Resolver specification : 1st resolver ratio 1 :1
2nd resolver ratio 136 :137
Resolver of transmitter type
Voltage ratio 2 :1 (rotor.stator)
Excitation : To one or two resolvers and to
synchronising switch.
Excitation voltage 5.7 V/2 kHz


200 I/O Capacity

1/0 units are not included in the basic versions of IRB 6000 .

In all, there are 6 available U0 slots (max . 5 with option 405 Winchester memory included):
• digital 1/0, 16 in/16 out, max . 6 units (1 slot per unit)
• analogue 1/0, 4 in/4 out, max . 1 unit (1 slot)
• AD combined 1/0, digital 16 in/ 16 out and analogue 2 out, max . 1 unit
(1 slot)
• RIO remote link for Allen Bradley PLC, max . 1 unit (2 slots)

With regard to analogue and combined 1/0, only one of the units can be used in the system at
the same time .

20x Digital inputs and outputs (LO)

Digital I/0 unit

Inputs : 16 opto-connected
Nominal voltage: 24 V DC
Current at nominal input voltage : 5.5 mA

Outputs: 16 opto-connected, short-circuit protected

Nominal output voltage : 24 V DC
Load capacity per output : 200 mA
Maximum load per group of 8 outputs : 1 A

The unit is divided into 4 groups, with 8 inputs or outputs in each . Each group requires a
separate voltage supply according to one of the following.

• Internal supply from the control system, not galvanically insulated from
the electronics in the cabinet .
External supply, galvanically insulated from the electronics in the cabinet .
Voltage range 19-35 V DC .

Connection points for internal and external supply are provided in the system .

Reserved LO groups
Four groups of digital 1/0 can be reserved via the system parameters :
• system 1/0
• remote control panel
• gripper 3-8
• digital glueing 1/0
• SWI

The contents and significance of reservations are described below:

System I/O
Contents: Control signals for:
• operation of grippers 1 and 2 (outputs)
Interrupt signals (inputs):
• CALL for sub program 1-5 (inputs)
• INTERRUPT PROGRAM
• INTERRUPT INSTRUCTION
Status signals (outputs) for:
• MOTOR ON
• CYCLE ON
• ERROR (error during program running both AUTO and MANUAL)
• Operating mode selector in position MANUAL
• SEARCH STOP
Requires: 8 inputs/8 outputs
Location : Last half of chosen 1/0 board .
 Activated system I/O will shift subsequent numbering of inputs and outputs .
Not valid if the function I/O-map have been used .

Remote panel
Contents: Inputs : MOTOR ON
MOTOR OFF
FROM DISKETTE
KEY (locked programming unit)
LAMP TEST
PROGRAM STOP
PROGRAM START
SYNCHRONIZE (external axis)

Outputs: MOTOR ON
MOTOR OFF
PROGRAM STARTED
PROGRAM STOPPED
FROM DISKETTE
ERROR (all errors, including handling errors)
EMERGENCY STOP
SYNCHRONIZE (external axis)

Requires: 8 inputs/8 outputs

Location : First half of chosen I/O board .

Activated remote control panel will shift subsequent numbering of inputs and outputs
Not valid if the function I/O-map have been used . .

Gripper 3-8
Contents : 1-6 control signals for gripper operation .
Requirement: 1-6 outputs depending on the number of grippers .
Location: Sequential placing according to output chosen for gripper 3 .

Digital glueing I/O (GL)

Contents : Glue blocking, glue reference error
Reserved: 1 input/ 1 output
Location: Input 6/output 7

Description IRB 3000/3200

50


SWI Spot Weld Interface (SW)

Contents: Control signals for welding controller (outputs) :
• Start 1
• Start 2
• Current enable
• Weld power
• Reset
• Gripper 1
• Gripper 2
• Parity
• Weld program "1" Call weld prog. 9-13
• Weld program "2"
• Weld program "4"
• Weld program "8"
• Weld program "16"

Control signals from equipment and weld controller (inputs) :

• Weld ready
• Timer OK
• Current OK
• Flow OK
• Temp OK
• Enable move

Requirement: 6 inputs/13 outputs

Location: First half of the inputs and both halves of the outputs on the I/O
board selected.

LO map
The system is supplied as standard with the above configuration .
By using an UO map jnnuts and outputs can be individually allocated an optional channel
("mapping") to adapt I/O to the installation .

For further information regarding LO mapping, see the installation manual for S3 .

LO ports
Series and parallel I/O are available and can be activated from the user program when
necessary.
When they are not activated as ports, they operate as individual inputs and outputs .

Series ports
Input port
Design : 4 parallel input channels for 16-bit data words.
4 outputs for control data
2 out + 1 in for hand-shake routines .
Requirement: 6 outputs/5 inputs
Location: Output 1-6 and input 1-5

Output port
Design : 4 parallel output channels for 16-bit data words
2 out + 1 in for hand-shake routines .
Requirement : 6 outputs/1 input
Location: Output 1-6 and input 5


Parallel 1/O ports

4-bit I/O ports
Quantity : 2 in and 2 out.
Location : Input/output 1-4 and 13-16.

8-bit I/O ports

Quantity: 2 in and 2 out
Location : Input/output 17-24 and 25-32

227 Analogue UO unit

(with common 0 V)

Inputs : 2 with switching frequency 10 Hz for the input filter

2 with switching frequency = 100 Hz for the input filter

Data:
Input impedance 1 Mohm
Input voltage +10 V
Resolution 10 mV (10/1024 V)
Accuracy 15 mV + 0.2% of
input voltage

Outputs: 3 voltage outputs

Output voltage ±10 V
Load >2 kohm
Resolution 10 mV (10/1024 V)
Accuracy 25 mV + 0.5% of
output voltage

1 current output
Output-current ±20 mA
Load <450 ohm
Resolution 20 pA (20/1024 mA)
Accuracy 60 A + 0 .5% of
output current
The analogue unit requires separate power supply ±15 V according to one of the following alternatives :

• Internal ±15 V supply, not galvanically insulated from the electronics in

the control cabinet, only intended for analogue I/O . Internal supply
is available in the unit's connector .
• External supply, galvanically insulated from the electronics in the
control cabinet.
Voltage tolerance , ± 5 %
Connection points for internal and external supply are available in the system .
Reserved I/O:

Analogue 1/0 reserved for glueing (GL):

Contents : - Glue flow reference

- air flow reference
Requirement: 2 outputs
Location: output CH 1 and CH 2


238 AD Combi I/O unit

Digital in/out
Inputs : 16 opto-connected
Nominal input voltage: 24 V
Input current at nominal
input voltage : 5.5 mA

Outputs: 16 opto-connected, short-circuit protected

Nominal output voltage : 24 V
Load per output : 200 mA
Load per group of 8 outputs : 1 A

The unit is electrically divided into 4 groups with 8 inputs or outputs in each group . Each
group requires a separate voltage supply according to one of the following alternatives :

• Internal supply, not galvanically insulated from the electronics in the

control cabinet.

• External supply, galvanically insulated from the electronics in the

cabinet. Voltage range 19-35 V DC .

Reserved I/O, see 20x Digital I/0

Analogue out

Outputs: 2 voltage outputs

Output voltage 0-+10V
Load >2 kohm
Resolution 10 mV (10/1024 V)
Accuracy 25 mV + 0.4% of output signal

The analogue unit requires separate voltage supply ±15 V according to one of the following
alternatives :

• Internal ±15 V supply, not galvanically insulated from the electronics in

the control cabinet, only intended for analogue I/O. Internal supply is
available in the units connector .
• External supply, galvanically insulated from the electronics in the cabinet .
Voltage tolerance ± 5% .
Reserved I/O, see 227 Analogue I/O

241 RIO board Allen Bradley

Remote link (remote I/O) for communication with Allen Bradley PLC .

With the RIO function, up to 128 inputs and outputs, in groups of 32,1/0, can be
transferred serially to a PLC control system equipped with Allen Bradley 1771 RIO node
adapter. Only digital, system, and remote panel signals can be transferred with RIO .
Connection to RIO is via screw terminals on the inside rear wall of the cabinet.
The RIO board takes up two board slots in the rack.

Number of digital I/O boards Number of LO via RIO

0 128
1-2 96
3-4 (max.) 64

This product incorporates a communications link which is licensed undo patents and proprietary technology of Allen Bradley
Company, Inc.. Allen Bradley Company, Inc . does not warrant or support this product Al warranty and support services for this
product are the responsibility of and provided by ABB Robotics Products


300 Type of connection

The control system connections can be adapted to various needs through choices shown
below.

Free end
Customer connections are available on the inner rear inner wall of the control system . Via
an extended ribbon cable with 40-pole connectors for digital or analogue signals, these can
be connected to a customer-specific relay and I/O panel (not supplied), which is placed on
the inner rear cabinet wall . Cable contacts are of type DIN 41651 .
31x External connection
The standard connections to the robot are with 64-pole plug-in connectors DIN 43652 on
the outer left-hand side of the control system (seen from the front) .

XS15

XS13

XS11

XS10

XS4

Fig 6.7 External connection

33x Screw connection

For customers who do not desire plug-in contacts there is the possibility of connecting
signals (apart from the robots control signals) to various types of screw terminals . These
are mounted on the rear inner wall of the control system .

The screw terminal units are mounted on mounting plates provided with cable channels
and standard EN 50022 bars for attaching the screw terminal units .
The number of bars are matched to the options selected . In all, up to 5 bars can be
mounted ; however, this is reduced to 4 with opt 145, flange disconnet switch .


Fig 6.8 Option mounting plate

Safety signals
Safety signals, etc
., are connected on a unit (1) on the lower bar. If the option of customer
connection (651-656) is selected, these terminals (2) are also placed on the bar furthest
down.

Analogue signals
Analogue signals are connected on a screw terminal unit as fig . 6.9. This unit (3) is to be
placed on the second bar to the left of the first digital screw terminal unit.

Fig 6.9 Screw terminals unit

339 1/0 supply terminals (4)

Provided with eight 2 A fuses for fuse protection of 24 V supply to 1/0, etc .
As standard, the fuses are connected to the control system's 24 V DC supply, and to all
digital screw terminal units.


Fig 6.101/0 supply distribution block with fuses .

For 1/0 signals, one of the following board units is selected

34z Screw connection. Digital 1/0 (5).

Up to 4 units, as fig. 6.9, are mounted on the same bar.

36X Screw terminal connection with disconnect possibility for trouble shooting .
Up to 3 placed on the same bar.

Fig 6.11 Screw terminals unit with disconnect .



37x Relay units (6)

Terminal unit with 16 relay outputs .

This option can be selected alone or in combination with 34x or 36x . If the relay units are
combined with 34x or 36, they are placed after the other terminal units .
In addition, the relay unit is equipped with 10 + 10 terminals for 24 V DC supply and
8 + 8 terminal for optional supply . Max. load per terminal group 6 .3 A.

Data relay unit outputs

16 relays with one change-over contact

Maximum current 4 A per relay
Rated voltage 250 V AC

Inputs according to option 20x . T he inputs are not seperated by relays.

ILI

I~n~u~llIIII II II IIIIIINIII~NII

Fig 6.12 Relay units

Connections from connectors

38x External connections via screw terminal board

All signals are connected to 64-pole contact units as per DIN 43652 with pin arrangement
as per installation manual S3 .

39x As in 38x above, but where the user establishes the pin arrangement by filling in the wiring
table 3HAB 2123-7 in conjunction with his order .

Description IRB 3000/3200

57


400 Additional equipment

The robot system can be supplied with any desired combination of additional equipment
as follows:

401 Program print-out `'O

The print-out function makes it possible to connect a printer to the robot system for
printing:

Individual programs including TCP positions . The operator is able to

request 5 print-outs through a signal command .
The contents of the fault message buffer .
System parameters.

The robot communicates with the printer through asynchronous series transmission via an
RS 232 signal interface . This printer must be fitted with an internal buffer memory .

The connections for the printer are situated on the front of the control system,
where there is a 25 pole contact (D sub) .

402 Computer link

This function permits communication between the robot and a host computer .
Communication takes place in asynchronous series form with an RS 232 signal interface .

A programmable instruction is provided :

During programmed running, control of the robot system is transferred to the host
computer.
It is possible to work as follows with the computer .
the computer controls the robot
the computer loads/stores program blocks or individual programs
the computer changes the running status of the robot `4'`
the computer starts/stops programmed running of the robot
the computer erases individual programs
the robot transmits status information
the computer stores status information from the robot

At any time the operator can disconnect the computer control of the robot . An additional
system parameter defines the identity of the robot (0-127) for the computer . The computer
is connected to a 12-pole contact device on the outside of the left-hand wall of the control
system .
For further information, see Description Computer Link .

403 Monitor (LCD)

The control system can be supplied with a monitor . All the electronics for the monitor is
placed in the control cabinet.

The operator has access to the following functions from the monitor :
• Display of parts of the current program with the activated instruction
marked. Activation of a new program or any new instruction is shown .

• Valid program data are displayed above the actuated section of the
program. Any changes in the program data will appear on the screen .

• The operator can ask for listing of the contens in the error message
buffer:

Should an error occur, the monitor will show error messages .

During program execution, the monitor displays the comments included in the programs,
one at a time, as the program proceeds .

Description IRB 3000/3200



405 Winchester memory

The Winchester is a hard disk memory to store up to 250 program blocks. Its operation is
the same as for floppy disks, but no robot parameters can be stored .
The time taken to read off a complete program from the Winchester is 6-7 seconds .
Winchester memory requires option 444 .

406 Illumination in cabinet

The cabinet can be provided with internal illumination that lights up when the door is
open .
For method of power supply, see option 430.

420 Service outlet

For service purposes, an outlet (7) as per standard below can be selected . The outlet is
located on the bar furthest down on the rear inner wall of the cabinet. The outlet is
protected with a 2 A fuse. All are provided with protective earth connection.

421 230 V mains outlet as per DIN VDE 0620 (Germany, Sweden, etc .) .

422 230 V according to French standard.

423 115V according to Harvay Hubble

424 115 V according to British standard .

425 115 V according to American standard.

430 Connections to service outlet and illumination.

Power supply to service outlet and illumination can be of three different types .

The outlet may be loaded with up to 100 VA when the control cabinet door is closed .

Fig 6.14 Connections to service outlet and illumination S.

431 Connection from main transformer.

The voltage is switched off with the mains switch on the front of the cabinet .


432 Connection in front of the mains switch without transformer. N.B . only for main voltage
380 V three-phase with (opt 153) neutral connection and service outlet for 230 V (opt 421,
422).
Cannot be combined with CEE intake (opt 132, 133) since these intakes have no neutral
connection.

433 Connection in front of mains switch with transformer 380 V - 500 V (only together with opt
153 157) with secondary for 115 V and 230 V, 2 A. For both 432 and 433, the voltage is to be
switched off with an circuit breaker mounted in the upper section of the left-hand wall of
the cabinet. The circuit-breaker is approved in compliance with EEC .

Earth fault protection for service outlet (8)

439 For better personal safety, the service outlet can be fitted with an earth fault protection
that trips at 30 mA earth current . The earth protection is placed alongside the service
outlet.

Operating voltage 110 - 240 V AC

440 Cooling equipment

443 Heat exchanger
The control system can be delivered with a fiwed heat exchanger on top of the control
cabinet The heat exchanger extends the temperature range to 45°C .

The heat exchanger is required to keep the nominla temperature range to 40°C when the
control cabinet is placed so that the cooling effect is not satisfied, i .e. when the free space
around the central cabinet is less than 100 mm .
The heat exchanger is working when the cabinet door is closed .

444 Air conditioner

The control cabinet can be fitted with a fixed air conditioning unit . The air conditioning
unit is required to keep a temperature below 450 C inside the control cabinet if the
ambient temperature is below 450 C .
The air conditioner is working when the cabinet door is closed .


620 Hit for limited working range

The working range of axes 1, 2 and 3 can be limited . The limiting of the working range is
done to further increase the safety.
The stop will be mounted of the user in connection with installation .

621 Axis 1
two extra stops for axis 1, to enable limiting the working range in steps of 15°
(minimum working range 30°)

622 Axes 1, 2 and 3

two extra stops for axis 1, to enable limiting the working range in steps of 15°
(minimum working range 30°) .
12 spacers for axis 2, to enable limiting the working range in steps of 28°
working range limiting switches for axis 3 in steps of 10°.

640 Control cable, manipulator - control system

The length of the cable between the manipulator and the control system is available in
following version:

641 7 m
642 15 m
643 22 m
644 30 m

660 Extension cable to the programming unit

661 Length 10 m. To be connected between the control system and the existing contact on the
programming unit's cable.
Not more than two extension cables should be used, i.e . a total length of
30 m between the control system and the programming unit .

670 Customer connection

671- Connectors
678
Industrial connectors as per DIN 43652 Make Articel No.
Amphenol ABB

• Cover C1461OA064 000 2 5217687-22

• Male contact, 64-pole C146100064 502 2 5217687-24
• 100 contact pins, area 0 .14-0.5 mm2 VN 17 050-0004 5217 1021-1
• 100 contact pins, area 0 .5-1.5 mm2 VN 01016-0003 52171021-2
• Keying pin VN 01016-0002 5217687-9
• Label 3HAB 2031-1

The number selected corresponds to the options chosen

For requisite tools, see installation manual S3

Description IRB 3000/3200

61


700 Documentation

The robot system is supplied with the following technical documentation.

• Product Manual
Description IRB 3000/3200
Safety Manual
Installation IRB 3000/3200
Installation S3
Maintenance IRB 3000/3200

• Programming Manual

• Service Manual S3
- Circuit diagram

• Service Manual MB 300013200

- Introduction
- Maintenance
- Mechanical repair
- Circuit diagram

Service Manual include instructions for service on electrical as well as mechanical parts.

The following language alternatives are available :

No documentation
702 English _
703 Swedish

740 Extra documentation

Any number of extra copies of the documents above can be supplied with the robot sys-
tem. The alternative "none" means that none of the above documents will be delivered
with the robot system.

74z Service Manual SS and Service Manual IRB 3000/3200

75z Programming Manual S3

76z Product Manual ERB MB 300013200

 Safety
IRB 2000
IRB 3000
IRB 3200
3HAB 0001-8 IRB 6000
JANUARY 1993/M93

ABB Robotics Products ASEA BROWN BOVERI

The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Robotics Products AB . ABB Robotics Products AB assumes no responsibility for any
errors that may appear in this document .

In no event shall ABB Robotics Products AB be liable for incidental or consequential damages arising from
use of this document or of the software and hardware described in this document.

This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB's
written permission, and the contents thereof must not be imparted to a third party nor be used for any
unauthorized purpose . Contravention will be prosecuted .

Additional copies of this document may be obtained from ABB Robotics Products AB at its then current
charge.

® ABB Robotics Products AB 1993

Article number : 3HAB 0001-8

Issued : January 1993

ABB Robotics Products AB

S-721 68 Vaster9s
Sweden


SAFETY
1. General

This information regarding safety covers functions with respect to the operation of the
industrial robot itself.
However, it does not cover complete information on how to design, install and operate the
entire system, including all peripheral equipment, which can influence the safety of the
system and the robot safety function .

To protect personnel, the supplier of the entire system has to design and install the ABB
industrial robot in accordance with the safety requirements set forth in the standards and
regulations of the country where the robot is installed .

The users of ABB industrial robots are responsible for ensuring that the applicable safety
laws and regulations in the country concerned are observed and that all safety devices
that are necessary to protect against any injuries to persons who work with the robot
system have been installed correctly .

Personnel who work with robots must be trained in advance in the operation and
handling of the functions of the industrial robot described in applicable documents, such
as programming, installation and service manuals .

INTRODUCTION

Apart from the built-in safety functions in the industrial robot itself, the robot also has
electrical inputs and outputs for the connection of external safety devices .

Through these electrical inputs and outputs the robot interacts with other machines and
peripheral equipment . This means that control signals can initiate safety functions from
the peripheral equipment as well as from the robot itself.

In the Installation Manual instructions are provided for connecting emergency stop
circuits and other safety devices between the robot and the peripheral equipment, the
software for limiting the range of movement of the individual axes, the mechanical limits
for the robot's working space and instructions for transport and assembly .

Service intervals and inspection points on the mechanical unit and the control system are
indicated in the Service Manual .

2. Applicable safety standards

IRB 2000, IRB 3000, IRB 3200 and IRB 6000 are designed in accordance with the
requirements of IS010218, Jan 1992, Industrial Robot Safety. The IRB 6000 also fulfils
the requirements in the Machinery Directive 89/392/EEC as defined in EN 775, October
1992. The system also fulfils the ANSI/RIA 15 .06-1992 stipulations, with the exception of
slow speed definition .


3. Safe working procedures

Safe working procedures have to be followed to avoid injury while performing an assigned
task. No safety device or circuit may at any time be modified, bypassed or otherwise
changed .

3.1 Normal operations

All normal operations in automatic mode are to be executed from outside the safeguarded
space.

3.2 Programming, testing, service

Approaching a robot which is in operation always entails a risk. The robot develops
considerable forces even at low speed . When entering into the robot's safeguarded space
the applicable safety regulations of the country concerned have also to be observed.

In exceptional cases, when work within the robot's work envelope cannot be
avoided, the following must be observed:

• The key-operated switch on the control systemt must be in the MANUAL or

_MANUAL FULL SPEED position to render the enabling device operative and to
block operation from any computer link or remote control panel.

• When the key-operated switch is in the MANUAL position the robot's speed is
limited to max . 250 mm/s (10 inches/s) . This should be the normal position when
entering into the working space . The MANUAL FULL SPEED position allowing full
speed may only be used by trained personnel who are aware of the risks that this
entails.

• During programming and testing, the robot system is to be in the MOTOR OFF,
enabeling device released, mode to ensure that the robot is not moving. The use of
MOTOR ON, enabeling device de pressed, mode to move the robot during program-
ming and testing must be reduced to a minimum .

• The enabling device must never be rendered inoperative in any way.

• The teach pendant must always be taken along by the programmer when entering
through the safety gate to the robot's working space so that no other persons can
take over control of the robot without the knowledge of the programmer inside the
robot's working space .

• The operator must be aware that the robot can make unexpected movements, e .g .
due to a programming error. A robot program consists of a series of different
movements. A pause (stop) in a pattern of movements may be followed by a
movement at high speed. The operator must also be aware that external signals
often affect robot programs so that a certain pattern of movement is changed without
warning on the teach pendant .

Safety IRB 2000 IRB 3000

2 IRB 3200 IRB 6000


4. Definitions of safety functions

4.1 Emergency stop, IEC 204-1,10 .7:

A condition which overrides all other robot controls, removes drive power from robot axis
actuators, and initiates the stopping of all moving parts, and removes power from other
dangerous functions controlled by the robot.

4.2 Enabling device, ISO 11161, 3 .4:

A manually operated device which, when continuously activated in one position only,
allows hazardous functions but does not initiate them . In any other position, hazardous
functions are stopped safely .

4.3 Safety stop, ISO 10218, 6 .4.3:

The safety stop is to have provisions to connect safeguards and interlocks to this circuit .
It must be necessary to reset the power before any robot motion can be initiated
Resetting of the power by the safety stop itself must not initiate any motion .

4.4 Reduced speed, ISO 10218,3 .2.17:

A single selectable velocity defined by the robot manufacturer which automatically
restricts robot velocity so as to allow sufficient time for persons either to get clear of
hazardous robot movements or stop the robot .

4.5 Safe interlocking, ISO 10218, 3 .2.8:

An arrangement that interconnects safeguard(s) or similar device(s) with the robot
control system and/or power system of the robot and its associated equipment .

4.6 Hold-to-run control, ISO10218, 32.7:

A control which allows movements only during manual actuation of that control and
which causes these movements to stop as soon as it is released .

Safety MB 2000 MB 3000

3 MB 3200 MB 6000


5 Safety functions

5.1 The safety control chain of operation

The safety control chain of operation is based on dual electrical safety chains which
interact with the robot computer to enable the robot to be put and stay in the MOTOR
ON mode .

These electrical safety chains are continuously monitored and the robot reverts to the
MOTOR OFF mode when a fault detected by the control computer arises . MOTOR OFF
mode means that drive power is removed from the robot's motors and the brakes are
applied.

The electrical safety chains consist of several switches connected in series in such a way
that they must all be closed before the robot can be put into MOTOR ON mode and power
supplied to the motors .

TBE ELECTRICAL SAFETY CRAM

OPERATING
MODE
SELECTOR
T AUTO

I MANUAL REDUCED SPEED

- MANUAL FULL SPEED

I
GS ES UM SW

MC2

0 24V

MCi MC2
AS = AUTO MODE SAFEGUARDED SPACE STOP
MANUAL MODE SAFEGUARDED SPACE STOP
3x240 V AC- .f-0 -Bg f
C~~ DRIVE UNITS
MS _
GENERAL MODE SAFEGUARDED SPACE STOP 24 V DCCJ--r/4W- BRAKES
GS _
ES = EMERGENCY STOP BUTTONS
MCI = MOTOR CONTACTOR 1
MC2 = MOTOR CONTACTOR 2
BC = BRAKE CONTACTOR

The position of the switches is indicated by the light diodes on the front of the system
board in the control cabinet.

When any contact in the safety chain of operation is opened the system will always revert
to the MOTOR OFF mode.

After a stop, the switch has to be reset at the unit which caused the stop before the
system can be ordered to start again .

Safety IRB 2000 IRB 3000

4 MB 3200 IRB 6000


The safety chains must never be bypassed, modified or otherwise changed.

5.1.1 Emergency stops

Built-in emergency stop buttons are located on the control panel of the robot control
cubicle and on the teach pendant.
External emergency stop devices (buttons, etc .) can be connected to the safety chain by
the user (see Installation Manual) . This has to be done in accordance with applicable
standards for emergency stop circuits .
Before taking into use upon commissioning, all emergency stop buttons must be checked
by the user to ensure their proper operation .

An emergency stop should be activated in case of danger to persons or

equipment. Before returning to MOTOR ON mode the cause of the stop must be
determined and the fault rectified.

5.1.2 Mode selection with key-switch

The applicable safety requirements in accordance with ISO/DIS 10218 on the use of
robots is characterised by different modes which are selected by means of control devices
with clear-cut positions.

One auto and two manual modes are available:

AUTO • Automatic operation

<250 * m m /s MANUAL • Programming -

Adjustment at reduced speed
100% MANUAL FULL SPEED • Test at working speed

For automatic operation with the key-switch in AUTO position, all safety arrangements,
such as doors, gates, light curtains, light beams and sensitive mats, etc ., must be active .
No person must be present inside the space marked off by the safety arrangements . All
controls, such as emergency stop, the control panel and control cubicle must be easily
accessible from outside the safeguarded space.

The MANUAL or MANUAL FULL SPEED mode must be selected when programming,
testing or service work is to be performed inside the space enclosed by safeguarding
arrangements. Movement of the robot must be executed from the teach pendant and with
Hold-to-run control.

Programming and test at reduced speed ; key-switch in MANUAL

position

Robot movements at reduced speed can be performed as follows :

• Key-switch in MANUAL 250 mm/s position
• Programs can be started only from the teach pendant and with the enabling device
activated.

Safety IBS 2000 IRB 3000

5 IRE 3200 IR33 6000


Program execution can be started with PROG ST, INST ST or EXEC BW . If the system
parameter 'Mold-to-run- control" is activated, one of these buttons must be kept
activated . Releasing the button will stop program execution . In this position, the work
stop function is not active .

Test at work speed, key-switch in MANUAL FULL SPEED position

Robot movements at programmed speed can be performed as follows :

• Key-switch in MANUAL 100% position

• Programs can be started only from the teach pendant and with the enabling device
activated .

This operating mode is for testing programs at full working speed . The robot can also be
run manually by means of the joystick .

Program execution can be started with PROG ST, INST ST or EXEC BW . The "Hold-to-
run controrrequires one of these buttons to be kept activated . Releasing the button will
stop program execution .

This mode may only be used by ABB trained personneL The applicable laws
and regulations of the countries where the robot is used must always be
observed .

Automatic operation; key-switch in AUTO position

Automatic operation can be started when the following conditions are fulfilled:

• Key-switch in AUTO position.

• MOTOR ON mode selected .
• The robot's external axes are synchronised .

The program can be started from the teach pendant or through a connected remote
control device.
These functions should be wired and interlocked in accordance with safety instructions
and the operator must be outside the area marked off by the safety arrangements .

The MOTOR OFF mode is activated when the position of the key-switch is changed .
(Changing from MANUAL to MANUAL FULL SPEED or AUTO mode requires a control
query on the teach pendant to be answered before the new operating mode is accepted .)

5.1.3 Enabling device

When the key-switch is in the MANUAL or MANUAL FULL SPEED position, the system
can be put into MOTOR ON mode by depressing the enabling device on the teach
pendant.

Should the system revert to the MOTOR OFF mode for any reason while the enabling
device is depressed, it must be released before the control system can be returned to the

Safety IRB 2000 IRB 3000

6 IRB 3200 IRB 6000
 MOTOR ON mode again . This is a safety function to prevent the enabling device from
being rendered inactive.

When the enabling device is released, the drive power to motors is removed, the brakes
are applied and the control system reverts to the MOTOR OFF mode .
On renewed activation of the enabling device the control system changes to the MOTOR
ON mode.

5.1.4 Hold-to-run control

This function is activated in MANUAL or MANUAL FULL SPEED mode . It can be
activated by two different ways depending on how the -hold-to-run° parameter is defined
at installation .

Besides activating the enabling device, one of the buttons PROG ST, INST ST or EXEC
BW on the teach pendant must be held down in order to execute a program . When the
button is released the movements of the axis (axes) stops and the robot system remains in
MOTOR ON mode. When the button is pressed down again, program execution
continues.

In MANUAL mode, the Hold-to-run control can be deactivated by changing the

parameter at installation . Deactivated Hold-to-run means that program execution is
stopped by pressing the STOP button on the teach pendant .

5.1.5 Connection of GENERAL MODE SAFEGUARDED STOP ; GS

The GS connection is provided for interlocking of external safety devices such as light
curtains, light beams or sensitive mats. The GS is active regardless of the position of the
operating mode selector.

When this connection is opened the robot changes to MOTOR OFF mode . To reset to
MOTOR ON mode the device which initiated the safety stop must be interlocked in
accordance with applicable safety regulations . This should normally be done in such a
way that the stop has to be reset at the device itself.

5.1.6 Connection of AUTO MODE SAFEGUARDED STOP ; AS

The AS connection is provided for interlocking of external safety devices such as light
curtains, light beams or sensitive mats for external use by the system builder . The AS is
especially intended for use in AUTO mode, during normal program execution .

The AS is disconnected when the key-switch is in the MANUAL or

MANUAL FULL SPEED position.

5.1.7 Connection of MANUAL MODE SAFEGUARDED STOP ; MS

The MS connection is provided for interlocking of external safety devices such as light
curtains, light beams or sensitive mats for external use by the system builder . The MS is
especially intended for additional enabling devices .


5.1.8 Function, limitation of range of motion

For certain applications, movement round the robot's main axes must be limited in such a
way that sufficiently large safety zones are created to avoid the danger of injuries caused
by collision between the robot and external safety arrangements such as a barrier, etc .

Movement round axes 1 and 2 can be limited with adjustable mechanical stops, and
round axis 3 by means of electrical limit switches or mechanical stops . In connection
with limitation of the range of motion by means of stops or switches, corresponding
software limitation parameters must also be effected . Apart from the main axes,
movement round the three wrist axes can also be limited by the computer software if
necessary. Limitation of movement round the axes is to be carried out by the user (see
Installation Manual) .

5.2 Supplementary functions

Functions via specific digital inputs:

• Stop through -program interrupt or "instruction interrupt can be activated through

connections to digital inputs . These inputs can be used to stop programs in the event
of a fault in the peripheral equipment, for example .
• Calling a program (programs 1-5) can be initiated through digital inputs directly or
on conclusion of an ongoing instruction . These subroutines may contain routines
governing the robot's actions in the event of a fault in the peripheral equipment .

Functions via specific digital outputs :

The following functions can be achieved through connection to these outputs :

• ERROR which indicates a fault in the robot system. Three different ERROR outputs
are available (see Installation Manual S3) .
• CYCLE ON which indicates that the robot system is executing a program .
• MOTOR ON which indicates that the robot system is in MOTOR ON mode .


6 Safety risks related to end effectors

6.1 Gripper
If grippers are used to hold workpieces, inadvertent loosening of the workpiece must be
prevented.

6.2 Tools, workpieces

It must be possible to turn off tools like mill cutters, etc ., in a safe and sure manner, e.g.
run down timers can ensure guards remain closed until cutters stop rotating .

Grippers must be so designed that the workpiece is retained in the event of an energy
failure or disturbances in the control system. It should be possible to release parts by
manual operation (valves).

6.3 Pneumatic, hydraulic:

Special safety regulations apply to pneumatic and hydraulic systems .
After shut-down, attention should be paid to residual energy in these system .
The pressure in pneumatic and hydraulic systems must be released before repair work is
commenced on them. Gravity may cause any parts or objects which are held by these
systems to drop. Dump valves should be used in case of emergency . Shot bolts should be
used to prevent tools, etc ., from falling due to gravity.

7 Actions during operation disturbances

Disturbances in the working process entail other risks besides those associated with
regular operation, since such disturbances can necessitate rectification by hand .

Such rectification must be carried out by trained personnel only, who must be fpmilistr
with the entire installation as well as the special risks associated with different
parts of it.

The industrial robot is flexible for use in different industrial applications . Caution must
always be observed and all work must be carried out to a professional standard and in
accordance with applicable safety regulations .

Safety IRB 2000 IRB 3000

9 IRB 3200 IM 6000


8 Actions during installation and service

To avoid injuries and damage during the installation of the robot system, the regulations
applicable in the country concerned and the instructions of ABB Robotics must be
followed. Special attention must be paid to the following points:

• The instructions in the Installation Manual must always be observed .

• The main power supply to the robot system must be arranged in such a way that it
can be turned off outside the robot's working space .

• The supplier of the entire system has to ensure that all circuits involved in the
emergency stop function are interlocked in a safe way and in accordance with
applicable standards for emergency stop function .

• Emergency stop buttons must be positioned in easily accessible places so that the
robot can be stopped quickly .

• Safety zones, to be crossed before admittance, must be arranged in front of the

robot's working space. Light beams or sensitive mats could be suitable devices for
such arrangements.

• By means of suitable arrangements such as use of turntables or the like, the operator
should be kept away from the robot's working space.

• Persons responsible for operations must make sure that safety instructions are
available at the installation in question .

• Persons involved in the installation must be trained in the robot system in question
and in safety matters associated with it.

Fault tracing must sometimes be carried out with the power supply turned on . When
repairing faults, disconnecting electric leads, and withdrawing or inserting units, the
control system must be turned off by setting the main power switch to the OFF position .

Even if the power supply for the robot is turned oM the dagger of injury still
remains:

• Axes are affected by the force of gravity when releasing brakes .

This means there could be a crushing hazard around the tie rod .

• Energy which is stored in the robot for the purpose of counterbalancing

certain axes may be released in connection with dismantling.

• On dismantling/assembling mechanical units there is a danger of falling

objects.

Safety . IRB 2000 IRB 3000

10 MB 3200 MB 6000


9 Risks associated with live parts

Control system

Dangerous voltage is carried by the following parts in an S3 control system .

• Main power supply / power switch

• Power unit
• Power supply unit for computer system (220 V AC)
• Rectifier unit (240 V AC and 340 V DC . Note : Capacitors!)
• Drive unit ( 340 V DC)
• Service outlets (110/220 VAC) (Option)
• Power supply unit for tools or special power supply units for the machining process
• External voltage connected to the control cubicle remains live even when the robot
system is disconnected from mains.
• Additional connections

Manipulator

Dangerous voltage may be present on the robot at :

• The power supply for the motors (to 340 VDC)
• User connections for tools or other parts of the installation (see Installation,
max. 220 V AC)

Tools, material handling devices, etc

.

Tools, material handling devices, etc ., may be live even if the robot system is in the OFT
position. Power supply cables which are in motion during the working process may be
damaged.

10. Limitation of liability.

The above information regarding safety must not be construed as a warranty by

ABB Robotics that the industrial robot will not cause injury or damage even if all
safety instructions have been complied with .


IRB 2000 IRB 3000

12 MB 3200 MB 6000
 Installation
I R B 3000/3200

3HAB 0003-20
May 1993/M93A

LI DII
ABB Robotics Products
p%1919
ASEA BROWN BOVERI
The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Robotics Products AB . ABB Robotics Products AB assumes no responsibility for any
errors that may appear in this document .

In no event shall ABB Robotics Products AB be liable for incidental or consequential damages arising from
use of this document or of the software and hardware described in this document .

This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB's
written permission, and the contents thereof must not be imparted to a third party nor be used for any
unauthorized purpose . Contravention will be prosecuted .

Additional copies of this document may be obtained from ABB Robotics Products AB at its then current
charge.

® ABB Robotics Products AB 1993

Article number: 3HAB 0003-20

Issued : May1993

ABB Robotics Products AB

S-721 68 Vasteras
Sweden


CONTENTS
Chapter Page

1 GENERAL 1

2 UNPACKING AND DELIVERY CHECK 3

2.1 Filling of gas in the balancingsystem 4

3 LIFTING INSTRUCTIONS 5
3.1 Lifting the robot 5
3.2 Turning the robot 6

4. MOUNTING THE ROBOT 9

4.1 Floor mounting 9
4.2 Foundation loads 11
4.2.1 IRB 3000
4.2.2 IRE 3200
4.3 Inverted suspension 12
4.4 Required space 13

5 LIMITATION OF WORKING RANGE 15

5.1 Axis 1 15
5.2 Axis 2 16
5.3 Axis 3 17

6 CONNECTIONS TO CONTROL CABINET 19

7 CUSTOMER CONNECTIONS 21
7.1 IRB 3000 21
7.2 IRE 3200 23
7.3 Application interface 24
7.4 Air/media connections 24
7.4.1 IRB 3000
7.4.2 IRB 3200
7.4.3 Connection of media hose to swivel

8 COMMISSIONING
8.1 Manually releasing the brakes 25
8.2 Calibration 26
8.2.2 Alternative calibration positions
8 .2.3 Check of calibration position
8.3 Running the robot 30

Installation IRB 3000/3200



Installation IRB 3000/3200



1 GENERAL
This manual describes installation and commissioning of the manipulator IRB 3000 and
IRB 3200 . Texts and figures refer to both models unless stating otherwise .

References are made to the following documents:

• Installation S3 Control System

• Description IRB 3000/3200
• Mechanical Repairs IRB 3000/3200
• Programming Manual S3

IMPORTANT!
Before unpacking and installation, the safety regulations and this manual are
to be studied carefully! Safety precautions are found separately in this manual-

Installation ]RB 3000/3200

1
Installation IRB 3000/3200
2


2 UNPACKING AND DELIVERY CHECK

The robot is packed either with the lower arm in its rearmost position, or with the lower
arm tilted approx . 10° backwards, depending on the way of transporting it.

If the robot is transported in a wooden box, remove the gables and top of the box by
straightening the locking tabs . Continue by removing the cross beams holding the upper
and lower arms and the sides of the box . Before undoing the robot from the floor of the
box, the robot arms must be positioned according to fig. 3 .1 . Lift the robot according to
section 3.1, "Lifting the robot" . Release the brakes according to section 8 .1, "Manually
releasing the brakes" .

IMPORTANT!
The robot is not completely stable while not fastened to the floor. When the
arms are moved forward the centre of gravity is displaced which may cause the
robot to tipover. Two persons should work together while moving the arms to
avoid this risk.

When the robot and the remaining equipment has been unpacked, check immediately
that no external damage has been caused during transportation and unpacking.

If applicable, also check that any ordered accessories are supplied and undamaged .

Environmental requirements
Ambient operation temperature (mechanical unit) +5°C -+45°C
Relative humidity during operation Max. 95% at
constant temperature

If the equipment is not to be installed immediately, all units are to be stored in a dry
area with an ambient temperature of -25°C - +55°C.

Additional data can be found in "Description IRB 3000/3200" .

2.1 Filling of gas in the balancing system .

If the robot is ordered for delivery without gas in the balancing system (option 88) it
has to be filled with nitrogen before the robot is taken into operation . To prevert axis
2 from falling down, the brake disc is locked with a screw .

L Charge the balancing system with nitrogen to pressure according to table below
( the lower arm in position 10° backward ) .

Ambient temp IRB 3000 IRB 3200

(°C) pressure pressure
(+/-1 bar) (+/-1 bar)
Floor mounted 10 110 105.5
20 113 108.5
30 116 111.5
40 119 114.5

Inverted mounted 10 101 95.5

20 104 98.5
30 107 101.5
40 109 104.5

V
1

Gas to be charged
here.
M6 hole.

A-A

Accumulator

2. Remove the locking screw for axis 2 .

The brake disc for axis 2 is locked by the screw .
The brake is placed under the cover for axis 2 gearbox, see figure above .


3 LIFTING INSTRUCTIONS

3.1 Lifting the robot

The robot is lifted by using the lifting eyes and an overhead crane . The robot weight is
approx . 750 kg . The lower arm is to be positioned approx . 100 backwards from the ver -
tical plane and the upper arm in the horizontal plane to position the centre of gravity
over the eyes, see fig 3 .1 . The axes brakes must be manually released to make it possible
to alter the positions of the arms if necessary, see section "8 .1 Manually releasing the
brakes" . Lifting instructions in general can be found in "Mechanical Repair IRB
3000/3200" .

• Attach the lifting eyes (M12 x 22) to the upper sides of the gearboxes of axes 1 and 2
according to fig. 3.1 . Adjust the arms if necessary.
• The lifting wires and the yoke are attached as per fig . 3.1 and then attached to the
overhead crane .
• Tension the lifting wires . Check the shackles and the yoke . Lift the robot vertically .

WARNING!
Do not walk under the hanging load .

3.1 Lifting the robot

Installation IRB 3000/3200

5
 3.2 Turning the robot (inverted suspension application)
A special tool is recommended when the robot is to be turned for inverted suspension, see
fig. 3 .2 . This tool can be ordered from ABB Robotics Svenska (ABB article number 6896
0011-UZ).

The tool is mounted to the insides of the gearboxes for axes 2 and 3 with M8x25 screws
and washers . See figure 3.2 . The tool is attached to the holes for adjustable mechanical
stops, see chapter 5 .

The lifting eyes must be removed!

The robot is lifted and tamed with the help of a fork lift truck, see fig . 3 .3 and 3 .4 .

The arms are to be in the same positions as for vertical lifting, see the previous section .

DANGER:
Never run a robot intended for inverted suspension while it is standing on the
floor!

When the robot is standing on the floor, the brake of axis 2 (lower arm) is not sufficient to
withstand the force from the balancing system in addition to the gravitational force . Axis
2 shall therefore be locked with a screw (M5x20, art. n o. 21212519-331) fitted in the
brake of axis 2, when the robot is not mounted in an inverted position . See figure below .
It is not allowed to remove the screw until the robot is inverted suspended .

Installation IRB 3000/3200

6
Keep the screw because it will be needed again, if the robot later is going to be moved .

Remove any large end effectors or equipment mounted on the robot before inverting.
These will cause an out of balance condition when using the inverting tool .

The forklift truck must have at most 165 mm wide and 50 mm high forks with a spread
of at least 920 mm between forks and swing clearances as shown in figures 3 .3 and 3 .4.

When installing an inverted robot, breather valves have to be fitted to gear boxes 2 and 3
according to section 4 .3 before the robot is run.


Fig. 3.2 Inverting tool

Installation IRB 3000/3200

8
Fig. 3.3 Turning of the robot

Fig. 3.4 Inverted suspension

 IRB 3000/3200
10
4 MOUNTING THE ROBOT
4.1 Floor mounting
The robot shall be mounted on a flat surface (flatness requirement = 0,5) with a hole con-
figuration as shown in fig . 4.1. The surface must be able to withstand the loads accor-
ding to section "4.2 Foundation loads" .

Fig. 4.1 Hole configuration, IRB 3000/3200

The robot is fixed with three M20 bolts, tightened alternately, see fig . 4.2.

Note that washers must be used!

Suitable bolts: M20 x 120

Suitable washers : 21/36, T=3

Tightening torque : 350 - 400 Nm

Two guide sleeves (art.n o. 6399 0003-284) can be added to the two rear bolt holes, to al-
low the same robot to be re-mounted without program adjustment, see fig . 4 .2
 Ing
.y-
D
;pr

20

Fig 4.2 Floor mounting

Installation IRB 3000/3200

12
4 .2 Foundation loads

4.2.1 IRB 3000

Force Fatigue load Max. load

(Operation) (Emergency stop)

Fxy ± 3200 N ± 4300 N

Fz (upstanding) 7600 ± 1800 N 7600 ± 2800 N
Fz ( suspended) - 7600 ± 1800 N - 7600 ± 2800 N

Moment

Mxy ± 7100 Nm ± 10000 Nm

Mz ± 1300 Nm ± 2400 Nm

Fxy resp. Mxy refers to a arbitrary directed vektor in the xy - plane .

4.2.2 IRB 3200

Force Fatigue load Max. load

(Operation) (Emergency stop)

Fxy ± 2600 N ± 3400 N

Fz (upstanding) 7400 ± 1500 N 7400 ± 2100 N
Fz ( suspended) - 7400 ± 1500 N - 7400 ± 2100 N

Moment

Mxy ± 5700 Nm ± 7300 Nm

Mz ± 1200 Nm ± 1700 Nm

Fxy resp. Mxy refers to a arbitrary directed vektor in the xy - plane.

 4.3 Inverted suspension
Inverted suspension of the robot is basically performed in the same way as floor
mounting.

Robots intended for inverted suspension ( option ) are prepared for this at delivery. The
hydraulic balancing system and the oil level in the gearboxes are adapted for inverted
supension.

NOTE!
When the robot is in inverted suspension, breathing-valves are to be be mounted on gear
boxes for axes 2 and 3, see figure 4.4. The valves are delivered in a plastic bag under the
cover of the axis 2 gear box.

Ensure, for inverted suspension that the gantry or similar is sufficently rigid to avoid
unacceptable vibrations and deflections, so that maximum performance is obtained .

It is very important that the locking-bar for axis 2, not is removed before the robot is in
inverted suspension, see section 3 .2 .

Figure 4.4

Installation IRB 3000/3200

14
 4.4 Required space
The space required by the robot's working range is shown in the figure below . The wor-
king range of axis 1 is ± 179,9 °.

The working range shown in fig. 4.5 is the working range to the wrist centre . The turn
disc increases the reach by 120 mm for IRB 3000 and 100 mm for IRB 3200!

IMPORTANT!
Ensure that there are no unpredicted obstructions which the robot can collide
with inside the working range.

Distance to surrounding level Min 150 mm

Fig 4.5 Required space, IRB 3000

Installation IRB 3000/3200

15
 (S0S4)

Fig 4.6 Required space, IRB 3200

Installation IRB 3000/3200

16


5 MUTATION OF WORKING RANGE

Ensure, before installation, that the robot can move freely within its entire working
range . If there are any obstructions the robot's working range must be limited.

Limitation of the working range is performed :

• by software for all axes

• mechanically for axes 1 and 2, and electrically for axis 3 .

Limitations by software are described in "Installation S3" .

5.1 Axis 1

Axis 1 operates within a rotational movement of ±179 .9° . This area can be mechanically
limited by adjustable mechanical stops .

The working range can be decreased in increments of 15° . Minimum possible working
range is 30° .

The mechanical stops are fixed with bolts (M10 x 40, two bolts per stop), see fig . 5.1.

The standard stop must not be removed!

NOTE!
The software must be amended to correspond to the changes in the mechanical
limitations of the working range, see "Installation S3"!

Fig. 5.1 Mounting of mechanical stops axis 1

Installation IRB 3000/3200

17
 5.2 Axis 2
The working range for axis 2 is mechanically limited by mounting additional stops to the
insides of both gearboxes 2 and 3, see the figure below . The stops limit the working range
in increments of 28° .

Attach the stops with bolts M8 x 25, two bolts per stop, see fig . 5.2.

WARNING!
For limitations larger than 28°, the stops must be added to each other, to achi-
eve sufficent shearing strength, as shown in fig . 5.2.

NOTE!
The software must be amended to correspond to the changes in the mechanical
limitations of the working range, see'Znstallation S3"!

Fig. 5.2 Mounting of mechanical stops axis 2

Installation IRB 3000/3200

18


5 .3 Axis 3
The working range for axis 3 can be reduced by fitting a switch and a corresponding ad-
justable breaker under the cover of the axis 3 gearbox (the one without brake release
buttons) (see figure 5.3) .

Fit the electrical limitation according to installation instructions delivered with the kit .

NOTE!
The software must be amended to correspond to the changes in the mechanical
limitations of the working range, see 'Installation S3"!

dMIRk
l~m
IWWI

1L . 11

AA

Fig. 5.3 Mounting of electrical stops axis 3

Installation IRB 3000/3200

19
 IRB 3000/3200
20
 6 CONNECTIONS TO CONTROL CABINET
The cables from the control cabinet are connected to the robot's base . The right hand con-
nector (viewed from behind) supplies the power, and the left hand connector handles the
signals between robot and control cabinet . Detailed information can be found in the
manual "Installation S3".

Fig. 6.1 Connections to control cabinet

Installation IM13000/3200
21
Installation IRB 3000/3200
22


7 CUSTOMER CONNECTIONS
7.1 IRB 3000
The robot is furnished with attachment holes to attach the customer equipment
according to below, see also fig . 7 .1 :

• Ten holes in the wrist:

Four holes (M5) in the tilt house shaft . Two are used by the fitting for the synchro-
nization pointer.
Six holes (M6) on the sides of the wrist, can be used for hose routing between
the upper arm tubular and the tilt houseing (option) .

• Eight shouldered holes for the drill point <1> in the upper arm tubular, four on
the upper side and four on the under side . Maximum bore depth 16 mm.
• Three holes (M8) in the side of the arm housing.
• Three holes (M8) in the lower arm .

To control and power the customer tools are cabling for power and signals routed inside
the robot. To utilize this cabling the robot should be equipped with connection unit
(option) .
 To connect to the power and signal conductors from the connection unit on the upper
arm the following parts are recommended, one plug for the power connector and two
for the signal connectors :

Connector/lcontakt R3.CP Power/ Kraft

Pos Benanmning Name ABB Art.No Type~ AWG Comments

1 H lsdon 12p Connector i2p 3HAA 2613-2 U lU U141LJH1 tsurnoy
2 Taming Gasket 5217649-64 UTFD 13B Burndy
3 Hylsor Socket 5217649-73 SC 24MIS6REV 24-26 Burndy 1)
5217649-26 RC 24M9K 24-26 Burndy )2
4 Stiftdon 12p Connector 12p 3HAA 2602-2 UTO 61412PN04 Burndy, EMC
5217649-7 UTO 61412PN Bumdy
5 Stift Pin 5217649-70 SM 20M1S6REV 20-22 Burndy 1)
5217649-3 RM 20M12K 20-22 Burndy )2
5217649-72 SM 24M1S6REV 24-26 Burndy 1)
5217649-25 RM 24M9K 24-26 Burndy )2
6 Adapter Adaptor 3HAA 2601-2 UTG 14ADT Burndy . EMC
5217 1038-3 UTG 14AD Burndy
7 Avlastning Cable clamp 5217649-8 UTG 14PG Burndy
8 Krympslang Shrinking Hose 3HAA 2614-2 Bottle shaped
Krympslang Shrinking Hose 5217 1032-4 Angled

Connector/Iwntalct R3CS Sigralc I Signaler

Pos Benanmning Name ABB Art.No Type AWG Comments

1 Hylsdon 23p Connector 23 p 3HAA 2613-3 UTO 01823SHT Burndy
Gasket 21520363-5 FD 16B
3 Hylsog Socket 5217649-73 SC 24-26 Bcandy 1)
5279649-26 RC 24M9K 24-26 Burndy 2)
4 Stiftdon 23p Connector 23p 3HAA 2602-3 UTO 61823PN04 Burndy, EMC
5217649-34 UTG 61823PN Burndy
5 Stift Pin 5217649-70 SM 20M1S6REV 20-22 Bumdy 1)
5217649-3 RM 20M12K 20-22 Burndy 2)
5217 649-72 SM 24M1S6REV 24-26 Bumdy 1)
5217649-25 RM 24M9K 24-26 Burndy 2)
6 Adapter Adaptor 3HAA 2601-3 UTG 18ADT Bumdy . EMC
5217 1038-5 UTG 18AD Bumdy
7 Avlastning Cable clamp 5217649-36 UTG 18PG Burndy
8 KrymPslang Shrinking Hose 3HAA 2614-3 Bottle shaped
Krympslang Shrinking Hose 5217 1032-5 Angled

1) Machine tooling 2) Hand tooling

Customer side Manipulator side

0 o6
1~1'1

If the robot is famished with customer connection also an intergrated air supply for
customer tools is included .

Installation IRB 3000/3200

24
 5

s
d
Alk

_AQMV~
of;,,-
r= WK.
WI~, fil

MIS

Fig.7.1 Customer connections, IRB 3000

Installation IRB 3000/3200

25


7.2 IRB 3200

The robot is furnished with attachment holes to attach the customer equipment accor-
ding to fig . 7 .2 below . The cables are routed internally in the robot, from the base up to
the upper arm . The figure shows the fixing holes for customer applications (basic
version), as well as media and electrical connections . Numbers in boxes indicate :

1. Customer connection Burndy 12-pole plug (2x) (option)

2. Holes for air/material connection R ]l4" or tube with outer diameter = 10 mm (option)
Customer connection Burndy 12-pole plug (option)

3. Connection hole for swivel with connection diameter R 1/4 - (option)

M6 depth 12 (3z)
Counter bare 013
M8 depth 16 Both side
Counter bore a 20

Guide hole

P
O
N
Na
12 r
B-B C-C

Fig 7.2 Customer connections, IRB 3200

Installation IRB 3000/3200

26


7.3 Application interface

The IRB 3000 as well as the IRB 3200 can be suited for different kinds of special
applications by connecting various tool systems etc to the robots . These tool systems
are described in the documents respectively .

7.4 Air/media supply

7.4.1 IRB 3000

Pressurized air (max. 8 bar) can be supplied via the robot base to the connection unit
(option) in the upper arm .

7.4.2 IRB 3200

Air or another medium, e .g. sealing compound, is possible to transfer through the upper
arm (option) . Connection is made at the upper arm's rear end and the outlet is located on
the upper arm, adjacent to the wrist . The following parameters applies to the sealing
compound :

Max. pressure 200 bar

Max. temperature 50°C

If sealing compound or some other viscous medium are to be transfered, sustained inten-
sive running with axis 4 should be avoided with the medium system pressurized without
medium circulation through the system (i.e . closed sealing gun). This could heat up the
swivel, which in the worst case may result in hardening of the sealing compound.

Carefully avoid exposure of internal robot details to sealing compound during dismoun-
ting of covers and caps . Some plastic or rubber details may be damaged .

7.4.2.1 Connection of media hose to swivel

The hose has a R 1/4" connection to the swivel at the upper arm's rear end. The hose is
routed in a circular bend to an attachment point on the bracke. It is of utmost importance
that the hose is completely free from loads in the attachment point so that forces from the
hose doesn't affect the swivel during robot motions .

Selection of attachment type and drilling of a hole in the bracket is made to fit the current
hose type .
Installation IRB 3000/3200
28


8 COMMSSIONING
8 .1 Manually releasing the brakes

All robot axes are equipped with holding brakes. These brakes are applied when the sys-
tem is deenergized . If it is necessary to release the brakes of the robot arms without con-
necting the robot to the control cabinet, an external power supply (24 V DC) must be
connected . The power supply is connected to the connector at the robot base .

WARNING!
Connect the power supply according to fig . 8.1. All axes can be released simul-
tanously if the power supply is incorrectly connected!

Fig. 8.1 Connection of external power supply (24 V DC)

The brakes are manually released

individually for each axis by
pressing the corresponding button on 5 (E)
the gearbox for axis 2 . The buttons
are labeled with the designation of
the corresponding axis . 6 (D)

WARNING!
Be careful when releasing the
brakes! All axes can start moving
very rapidly, thus causing damag4 ( )
or injury!

Fig. 8.2 Push button unit and axes designations

Installation IRB 8000/3200

29


8.2
Calibration
8.2.1
Coarse calibration using the robot calibration marks
If error message 509 SYNC .ERROR 2IXX, 23]O or ROBOT NOT SYNCHRONIZED,
the robot must be calibrated against the calibration mark of each axis on the robot . See
figure on the next page .

Examples when the revolution counter is to be calibrated :

• when the battery unit is discharged
• after a resolver fault
• the signal between resolver and serial measurement board is interrupted
• some robot axes have been manually moved with disconnected control system

After approx . 18 hrs of operation, the accumulator unit is fully recharged .

If calibration of the resolvers must be performed, see Service Manual IRB 3000/3200,
Mechanical repair, chapter 9.

Observe caution when inside he robot working range!

Put the system in the MOTOR ON mode and run the robot manually, using the joystick,
to a position where the calibration marks are within the tolerance zone, as shown in the
figure on the next page .The axes are to be adjusted in increasing sequence, i .e. 1- 2 - 3 - 4
-5-6.

Axes 5 or 6 must not be manually moved before the robot is calibrated, to avoid that the
resolver of axis 6 is calibrated on the wrong resolver revolution .
When calibration is performed as below, avoid to move axis 6 when axis 5 is moved to it's
calibration position .

When all axes have been set according to the above, the revolution counter values are to
be stored by giving the following commands on the programming unit :

• Note. Don't uppdate the SYNCPAR value .

MAN
SCAN
PARAM
RESOLV
COUNTER
UPDATE ALL COUNTERS? YES

Make a back up copy of the parameters on a diskette or similar by performing the

following sequence :

MAN
SCAN
PARAM
TO DISK

After uppdate of the revolution counter check every time calibration position and drive a
sutable calibration program .

Installation IRB 3000/3200

30
 1 mm, tol . omrade
1 mm tolerance zone

Installation MR 3000/3200
31


8.2.2 Alternative calibration positions

The robot must be calibrated at calibration position 0 before it can be calibrated in any of
the alternative positions . Use system disk 3HAB 2030-1 to set the alternative calibration
positions according to the following.

IRB 3000:
program 3000 calibration position
program 3001 calibration position
program 3002 calibration position
program 3003 calibration position
program 3004 calibration position
program 3005 calibration position

IRB 3200:
program 3200 calibration position 0
program 3201 calibration position 1
program 3202 calibration position 2
program 3203 calibration position 3
program 3204 calibration position 4
program 3205 calibration position 5

Note that if the final installation prevents that calibration position 0 can be reached,
must the setting of alternative calibration positions be carried out before installation.

The different alternative calibration positions are described in the Installation Manual
of Control System S3 . After setting any of the above alternative calibration positions,
the revolution counter value is to be stored by giving the following commands on the
programming unit:

MAN
SCAN
PARAM
RESOLV
SYNCOFF
Select aids
UPDATE (write down on calibration label)
NEXT
UPDATE (counter)
NEXT

BREAK
ACTIVE

Make a back up copy of the parameters on a diskette or similar by performing

the following sequence :

MAN
SCAN
PARAM
TO DISK

Also update the parameters for the synchronizition position according to

Installationmanual S3 .
 Calibration position (see figure below)

0 1 2 3 4 5
1 00 -90° +90° 0° -90° +90°

2 0° 0° 0° -90° -90° -90°

z%
MMMEW
fir*!, ,m id/"
-

W;
II
Aft
-,i
I-

S)posn° 4
+90
Synitpoan° 2
+90

posh° S

Synhp=n0 5 -90

Installation MB 3000/3200
33


8.2.3 Check of calibration positions

Use system disk to check the calibration positions . Select calibration program . Start the
program and switch the robot to the MOTOR OFF mode when it has been calibrated .
Check that the calibration marks align with each other .
At check, with electrical inclination instrument, should the result be within 0 .5 mm/m,
using the system disk .

8.3 Running the robot

Staring and running the robot system is thoroughly described in the Programming manual
S3.
 INSTALLATION
Robot control
system S3

3HAB 0003-22/Rev I
M93A

*ItIP
ABB Robotics Products
"IMP
ASEA BROWN BOVERI
The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Robotics Porducts AB . ABB Robotics Products AB assumes no responsibility for any
errors that may appear u this document.

In no event shall ABB RobodcsProducts AS be Gable for incidental or consequential damages arising from
use of this document or of the software and hardware described in this document

This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB's
written permission, and the contents thereof must not be imparted to a third party nor be used for any
unauthorized purpose. Contravention veil be prosecuted .

Additional copies of this document may be obtained from ABB Robotics Products AB at its then current
charge.

C ABB Robotics Products AB 1993

Article number. 3HAB 0003-22

Issue : M93A/Rev I

ABB Robotics Products AB

S-721 68 Vasteras
Sweden
 CON EMS Page

1 SAFETY 1 :1

2 ENVIRONMENTAL REQUIREMENTS 2:1

3 CONNECTION OF SIGNALS 3:1

3.1 Signal classes 3:1

3 .L1 Cable selection
3.L2 Routing
3 .L3 Interference suppression

3.2 Terminal connections 3:3

3 .2.1 Connection to connectors
32.21 Connection to screw terminals (option)
3.2.22 Internal connectors (option)
32.3' 'Connection to terminal cables (option)

33 Connection, control cabinet - robot 3:6

3.4 MOTOR ON / MOTOR OFF circuit 3c?

3 .4.1 Connection diagram
3.4.2 Connection tables MOTOR ON/ MOTOR OFF operating circuits .
3.4.3 Technical data MOTOR ON/OFF operating circuits
3.44 Connection tables external signals
3.45 Technical data, external signals
3.4.6 External safety relay

3S Safety stopsignals 3:12

3.5.1 Category 1 safety stop

3.6 Voltage supply to electronics 3:13

3.6.1 247 I/O
3.6.2 External supply

3.8 Connection of user equipment to the robot (option) 3:14

3.8.1 IRB 2000
3.8.2 In 3000
3.8.3 IRB 3200
3.8.4 IRB 6000

3.9 Sensors interface 3:19

3.9.1 General
3.9.2 Connection of digital sensors
3 .9.3 Connection of analog sensors

3.10 1/0 (option) 3:22

3 .10.1 Digital 1/0
3.102 Technical data for each group of 8 channels
3 .10.3 Numbering of digital I/O
3 .10.4 System LO
3 .10.5 ESAB 1/0
3 .10.6 Panel -I/O
3.10.7 Error outputs
3.10.8 System ports
3.10.9 Remote I/O (RIO)

INSTALLATION
0:1


3.11 Analog LO (option)

3.1L1 Analog Ports
3.1L2 Analog Connections
3.1L3 Combined I/O (option)
3.1L4 Connection table - Combined UO

3.12 Arc weld LO (option) 3:37

3.121 General
3.12 .2 Servo-controlled positioner with common drive unit

3.13 Program printout (option) 3:41

3.14 Computer link (option) 3:42

3.15 External operating panel (option) 343

3.17 I/O signals • SWI (Spot Welding, Interface) 3:45

4 MANS CONNECTION AND START-UP 4:1

4.1 Connection to mains terminal 4:1

4.L1 Connection on left hand side
4.L2 Mains Transformer

4.2 Check list before start-up

4.3 Start-up to standby 4:3

5 SYSTEM PARAMETERS 5:1

5.1 Introduction 5:1

5.L1 Handling system parameters
5.12 Handling parameter menus
5.L3 Handling stored parameters to/from a diskette
5.L4 Handling stored parameters tdfram a superior computer
5.L5 Concluding procedures

5.2 Individual system parameters 5:6

5.2.1 Parameters, menus and submenus
5.22 Loading parameters from a PROM
52.4 Individual system parameters
5a4.2-
5.2-4.32 Description of individual system parameters
5.2.5 Installation of RIO-board

5.3 Resolver calibration 5:59

5.3.1 Resolver data in general
5.3.2 Basic menu and submenus
5.3.3 Handling of calibration parameters
5.3.4 COMMOFF Commutation offset
5.3.5 SYNCOFF. Synchronizing offset
5.3.6 COUNT

INSTALLATION
02


5.4 Test running 5 :65

5 .5 Parameter Errors 5 :66

5 .6 Parameter Index 5:68

6 EXTERNAL AXES 6:1

6.1 External axes and axis 7 6:1

6.2 Required equipment 6:2

621 Technical data

6.3 Signal description 6:4

6 .3.1 Common signals
6 .3.2 Internal axis 7
6 .3.3 External axes 7-12

6.4 Switching up and starting 6:13

6 .4.1 Internal axis
6.4.2 External axes 7-12

6.5 Servo trimming of axes 7-12 6:15

6.5.1 Preparation
6.5.2 Speed controller, internal axis 7
6.5.3 Position control
6.5.4 Handling of the programming unit
6.5.4.1 Test signal configuration
6.5.4.2 Trimming function

6.6 Adjusting sync. swithches and absolute measurement 6:22

7 QUICK START-UP AND PARAMETER INDEX 7:1

7.1 Check list before startup 7:2

7.2 Start-up to standby 7:3

7.3 Test running 7:4

7.4 Coupling diagrams 7:5

8 SYSTEM DISC 8:1

8.1 Robot System parameters 8:1

8.2 Error codes in plain language 8:1

8.21 Loading the errror codes
8.2.2 Changing the texts
823 Selecting text via instruction numbers

8.3 Test programs 8:4

Tables for error codes in plain language

INSTALLATION
o-.3
D ALLATION
0:4


1
SAFETY - INSTRUCTIONS AND RECOMMENDATIONS

lr--- See separate document in the Product manual.

INSTALLATION
11
INSTALLATION
11
 2
ENVIRONMENTAL REQUIREMENTS

The space occupied by an S3-control system is shown in the figure below .

Space required

If the free space (gray zone) around the

cabinet is less than 100 mm, a heat
exchanger or air conditioner is
necessary.

Front view

INSTALLATION
2:1


Ambient temperature for control cabinet incL programmig unit and disk drive, without
auxiliary electronics installed: +50 C - +400 C

Relative humidity: Max 95 % with constant

temperature

The cabinet enclosure protects against dust, splashing water from any direction and contact
with live parts. Degree of Protection rating is lP 54 in accordance with IEC 144 and
IEC 529 . The cabinet is designed to fullfil the requirements of NEMA 12 . Avoid however
spraying the control cabinet with water or other liquids .

The control cabinet and its contents withstand shocks due to the normal transport,in
accordance with IEC 68-2-6, IEC 68-2-29 . If the floor on which the cabinet is to stand
permanently is subject to vibration, the cabinet should be mounted on shock-absorbing
vibration dampers.

If the plant has a history of extreme mains power transients and interference voltages, an
isolation transformer or an interference suppression device should be installed .

INSTALLATION
22
 3
CONNECTION OF SIGNALS

To avoid damage by ESD (ElectroStatic Discharge) always wear the (grounded bracelet
when handling electronic components.

3.1
Signal classes

The signals to the control cabinet are of four classes .

Power - drive voltage for electrical motors .

Control signals - digital operation and data signals (digital I/O, emergency stop,
General (mode) stop etc).

Measuring signals - analog measurement and control signals (resolver, (except for
and analog LO).

Data communication signals - (printout, computer link, panel cable to externally

installed operator's unit).
For the different classes it's different rouls for cables and cables extension . Signal from
differnt classes are not allowed to mixed .

3.1.1
Cable selection

All of the cables in the control cabinet must withstand an ambient temperature
of 70° C ambient temperature . The following rules also apply to cables for signals of
certain classes :
Power supply - screened cable with smallest area 0 .75 mm2 or AWG18 .
Note that local standards which apply with respect to insulation and conducting area
must be complied with.

Control signals - screened cables.

Measurement signals - screened cable with twisted pairs .

Data communication signals - screened cable with twisted pairs .

3.1.2
Routing

Power signals - these signals cause high disturbance and are to be contained in a
separately screened cable . The screening is to be clamped against a surface free of
paint on the steel frame of the cabinet .

Control signals - These signals are not very sensitive . However, they should not be
routed side-by-side and parallel with non-screened switched-power cables . When
screened cable is used, should the screen be connected direct to the chassis with help
of a steel bracket .

Measuring signals - these signals are very sensitive to disturbance. To protect these signals
the cable should not be located closer to power signals than 30 cm . In the cable each signal is
to be twisted with a neutral conductor . The screening is to be connected to the body of the
cabinet using a steel clamp .

Data communication signals - these signals are very sensitive to disturbance . To protect
these signals, the cable should not be located closer to power signals than 30 cm . Each signal in
the cable should be twisted with a neutral conductor . The screen should be connected to the body
using a steel clamp .

INSTALLATION
&1


3.1.3
Interference suppression

Relay coils and other units in the control system which could cause interference are
suppressed so that their operation does not interfere with the control system .

Relay coils, conductors and motors connected to the system should be suppressed in a
corresponding way. The figure below shows how this can be done .

Note that the operating time of a DC- relay increases when the relay is suppressed,
particularly when a diode is connected in parallel with the coil. A varistor give a
shorter realeasing time . Diodes and RC-filters can be replaced with varistors .
A varistor gives a shorter delay.The suppression of coils also extends the service life of
the switches which control the coils .

Fxamples of how to suppress peripheral equipment connected to the robot system

+24 V DC 0V
11 The diode is to be dimensioned for

I the same current as the relay coil,

k..--
and a voltage of two times the
supply voltage

t
24 V DC. or ACvoltage 0 V R 100 ohm, 1 W
C 0 .1-1 µF
> 500 V max voltage
`-O
l 125 V nominal voltage

R 100 ohm, 2 W
C 0 .5 µF
3X380V > 1000 V max voltage
> 420 V nominal voltage

3%380V R 100 ohm, 1 W

C 0.5 pF
< 1000 V max voltage
> 250 V nominal voltage

INSTALLATION S3
3:2
 3.2
Terminal Connections

Terminals for connection of customer LO, external safety circuits etc can be supplied as
industrial connectors , as screw terminals.

The connector is designated with XP when the equipments are pins and XS when
sleeves . Screw terminals are designated with XT .
3.2.1
Connection to connectors

Connectors are located on the left hand side of the control cabinet for the user's
connections.
These may be of two different types:

L Industrial connectors, DIN 43652, with 4 x 16 poles for contact pressing.

2. Multipole type connectors with 12 poles for contact pressing or soldered connections .

The following applies in general for connection of signal cables:

Fold unused conductors backwards and fix to the cable with cable ties. Check that the
conductors are not connected at the other end of the cable to avoid interference (aerial
effect or cross talk) . If there is risk of interference, unconnected conductors should be
connected to ground (0 V).

The following applies when contact pressing connections in and industrial connectors :

A crimp contact is pressed on each stripped conductor with a special tool The pin can
then be snapped into the connector itself

A special extration tool is used to remove a pin from the connector.

When two conductors must be connected to the same pin, both conductors are pressed
in the same pin. A mazimum of two conductors should be pressed into one pin.

When soldering in multipole connectors, care must be taken to obtain first class
soldering.

INSTALLATION
3:3
 XS14
XS12
XS7 XS4
XS.3 XS5
&S1

XB

Connection to external connectors.

Fixing screw Equipment necessary Article No . Article No.
for protective Article ABB Amphenol

Industrial connector, plug 5217687-24 * C1461OA064 000 2

Hood 5217687-21 C146 10G064 502 2
Keying 5217687-9 * (2) VN17 050-0004
Pin, conducting area 0 .14 - 0.5 m30 52171021-1 * (100) VN17 016-0003
Pin, conducting area 0 .5 - L5 521710212 * (100) VN17 016-0002
Contact pressing tool 6893153-2

Extractor 6893153-4

* part of YB 501101-DP

Facts
The connector ac comodates 4 rows of 16 conductors with a maximum conducting are
L5 mm2. The screen must be fixed with the upper part of the connector . All industrial
connectors in the customers cables are pin connectors, the cabinet are deliveryed with housing
connection.

IIJSTALLATIO?<
3:4
Connection of optional computer link .

Mnltipole-0onnector Equipment necessary Article Article

Article . number number
ABB Burndy
12-pole multipole connector 3HAA 3016-1 UT 06 PG 1823 P04T
Crimping pin, area 025 - 0.5mm2 5217649-3 RM 20 M12 B
Cable damp for above 2671125-2

Soldering pin, area 0.25 - 0.5 mm 5217649-90 RM 20 SE OR

Facts

The leads are soldered or crimped to the pins on the rear of plug .

3.2.2.1
Connection to screw terminals (option)

Screwed terminals can be provided on the, ear inner wall of the cabinet for connection
of customer UO,and safety stops .

&= Corresponding aigaal

terminal External Connector identification

%T 3 BS 3 Safety stops, 24 V, sensor etc

XT 11 XS 11 Digital VO 1
XT 12 BS 12 Digital LO 2
XT 13 BS 13 Digital YO 3
XT 14 XS 14 Digital LO 4
BT 15 XS 15 Digital YO 5
8T 16 XS 16 Digital YO 6
XS 7 External axes
XT 10 XS 10 Analog 1/O
XS 4 External axes

Example of the terminals on the rear wall of the cabinet is shown below .

Incoming cables to the screw terminals must be screened. The cables can be drawn through a
flange on the left side of the cabinet (the screen must be connected with the inlet) which has a
series of 12 hock-outs with diameter 23 mm, or can be brought in through the roof plate by
drilling holes for suitable cable glands . The finished installation should fulfill form of
protection IP54 (NEMA 12).

INSTALLATION
3:5


Inside rear wall of cabinet

3.2.2.2
Free ends (option)

The option is used for connection to a customer designed relay or I/O interface.

- Customer connections (8S3).

A 64-pole female industrial connector, DIN 43652 is available in the cabinet
rear wall.

- I/O-connectors are 40-pole ribbon cable connectors, length enough to reach cabinet
rear wall.
33
Connection, control cabinet - robot

The robot is connected to the control cabinet via two cables, one cable for measurement
signals and one cable for the motor drives .
The mgt and motor cables are connected to the left-hand side of the control
e et at one industrial type connector and one Burndy type connector. The a
measurement and motor cables are connected to external contacts at the rear of the
robot base

See following figure:

CONNECTIONS
Motor drives cable R8.1MP - SP1
Messorement signal cable RLSMB- XP2


$ .4
MOTOR ON/MOTOR OFF CIRCUIT

To get allowance for MOTOR ON conditions, two identical chains of switches have to be
closed.
Any switch opening will cause MOTOR OFF . Any difference in the two chains will
maintain the MOTOR OFF condition.

The principal for one circuit with possible customer connected switches AS, MS, GS
and ES is shown in figure below.

Operating mode
selector

GS ES

Computer

AS Automatic mode safeguarded Stop

MS Manual mode safeguarded Stop
GS General mode safeguarded Stop
ES Emergency Stop

INSTALLATION
3:7
3.4.1
Connection diagram

MOTOR ON MOTOR ON
CHAIN 2 CHAIN 1
ov +24V

Clo
cii
B13

A14,

INSTALLATION
8:8


3.4 .2
Connection tables MOTOR ON/MOTOR OFF operating circuits .

Users connector : XS3 or XT3 .

Signal names refer to the detailed circuit diagram in S3 Service Manual .

Signal name Terminal Note

ENDEVB Al Manual Stop 1

MSTOP 1 A2 Manual Stop 1
ENDEV-N Bl Manual Stop 2
MSTOP 2 B2 Manual Stop 2
24V SYS A3 Auto Stop 1
ASTOP 1 A4 Auto Stop 1
0V B3 Auto Stop 2
ASTOP 2 B4 Auto Stop 2
GSTOP IA A5 General Stop 1
GSTOP 1B A6 General Stop 1
GSTOP 2A B5 General Stop 2
GSTOP 2B B6 General Stop 2
GSTOP lB A? E-stop buttons 1
ES1C A8 E-stop buttons 1
GSTOP 2B B7 E-stop buttons 2
ES 2C B8 E-stop buttons 2
ES 1A A9 Ext E-stop 1
ESTOP 1 A10 Ext E-stop 1
ES 2A B9 Ext E-stop 2
ESTOP 2 B10 Ext E-stop 2

Note. A? A8, A9-A10, B7-B8, B9-B10 have to be jumpered for proper function of control
system's E-stop buttons.

ESTOP 1 All Ext limit switch 1

EXT LIM 1 A12 Ext limit switch 1
ESTOP 2 Bll Ext limit switch 2
EXT LIM 2 B12 Ext limit switch 2

MOFF HOLD 1A C1
MOFF HOLD 1B C2 *
MOFF HOLD 2 D1 *
0V D2 *

* Open circuits will lock the robot in MOTOR OFF . If this function is not used, C1-C2 and
D 1-D2 must be jumpered.

314.3
Technical data MOTOR ON / OFF operating circuits .

Supply voltage 24V from control system

Circuit current 300 mA
Max allowed total
circuit resistance 10 ohm
Signal class Control signals


3.4.4
Connection tables external signals

Users connector. XS3 or XT3.

Signal name Terminal Note

EXT MODE COMMON 1 C3 External using of operating

EXT AUTO 1 C4 mode selector
EXT MAN 1 C5 Chain 1
EXT MAN FS C6

EXT MODE COMMON 2 D3 External using of operating

EXT AUTO 2 D4 mode selector
EXT MAN 2 D5 Chain 2
EXT MAN FS 2 D6

EXT MON lA A13 Motor contactor 1

EXT MON 1B A14 Motor contactor 1
EXr MON 2A B13 Motor contactor 2
EXT MON 2B B14 Motor contactor 2
EXT BRAKE A C10 Brake contactor
ET BRAKE B Cll Brake contactor

3.4.5
Technical data, external signals

Max voltage 48 V DC
Max current, BRAKE 9A
Max current, others 4A

Max potential in relation

to control system earth 400 V

Signal class Control signals

INSTALLATION
3 :10


3.4.6

External safety relay

The emergency stop buttons in the control system can operate together with external
emergency stop buttons using an external safety relay .

Control system XS 3/XT3

0
0
I

External safety relays) I

I 4
B9

A?

B7

B10
A10
I

To customer
I _I _ I equipment

I I I


3.5

Safety stopsignals

According to safety standards, such as ISO/DIS 11161 "Industrial automation systems -

safety of integrated manufacturing systems - Basic requirements" there are two
categories of safety stops as follows :

Category 0 stops shall be used when a safety analyze requires immediate removal of
power, e.g. when light curtains are used as entrance protection . The uncontrolled
movement stop may need special restart action due to possible deviation from the
programmed path .

Category 1 is preferred, when acceptable in a safety analyze e .g. when gates are used
as entrance protection, since the controlled movement stop within the programmed
path simplifies restart .

In the S3 control system all safety stops are of category 0 .

A category 1 safety stop is achieved by using the HOLD 1,2 function together with AS
or GS.

3.5.1

Category 1 safety stop (soft stop)

HOLD 1 and HOLD 2 connected to gate operated contacts supplied by 24V will at gate
opening order PROG STOP and short thereafter two relay contacts are opened . These
relay contacts can be connected in any of the MOTOR ON / OFF user switch positions.
A S or GS are preferred.

PROG STOP
24V C7
ono 0 pr4'~ ov
C8
Gate i o C9
24V i D7
OHO 0 ov
i D8
0
o D9
User's connector. %S3 or ZT3

Signal name Terminal Note

HOLD 1 C7
HOLD 11 C8
HOLD 12 C9
HOLD 2 D7
HOLD 21 D8
HOLD 22 D9

Technical data.

Delay time 1.5 sec

(24V from control system)
Signal class Control signals

Note. To resume program running after interrupt by HOLD 1,2, gate contacts should be closed .
Then by setting SYSTEM AUTO INPUT (see chapter3 .10.4), the robot will go to MOTOR ON
automatically followed by FROG START .

INSTALLATION
5:12


3.6
Voltage supply to electronics

The system is provided with a 24 V supply for internal use, 24 V I/O .

3.6.1
24V1/O

This voltage is used internally for the robot brakes supply, and MOTOR ON circuits . It's
OV is common to other electronics supplyin the control system .

Techical data

Voltage 24,0 V - 26.4 V

Ripple max. 0,5 V p-p
Permitted user load max. 4 A
Current at shortage max. 5 A (average value)

Voltage is available to the user in accordance with the following connection table :
User's connector. User's connector.
XS3 eller XT3 XT18
Signal name Terminal Signal name Terminal
24 V I/O A15, B15 24V 1/0 13,14,15,16
24 V 1/0 A16, B16 24V 1/0 29,30,31,32
24 V I/O C16

0 V I/0 C14, D14 OV UO 5,6,7,8

0 V I/O C15, D15 OV I/0 21,22,23,24
O V I/0 D16

3.6.2
External supply

External supply is to be used in the following cases :

• The internal supply provides too little current .

• Galvanic isolation is necessary because of the risk of interference through ground

currents.
• Galvanic isolation is necessary because of the difference in potential between the
control signal and the chassis ground .
• Galvanic isolation is required for reasons of safety .
• Risk of the transmission of considerable interference into the internal 24 V supply .
External supply is recommended to utilize the the galvanic isolation of the 110-boards .

This could result in disturbances in the normal operations of the control cabinet .

The zero of the external supply must be connected in such a way that the maximum
permissible potential difference between the zero and chassis ground is not exceeded i.e .
by connecting a zero conductor to the chassis ground or some other common grounding
point

Technical data:

Potential difference to chassis ground: max . 60 V continously

max . 500 V for 1 minute

Permissible supply voltage: 19 - 35 V including ripple

 3.8
Connection of user equipment on the manipulator (option)

Techincal data for user connection

Power supply
Conductor resistance < 0.5 ohm, 0,241 mm2
Max voltage 250 V AC
Max current 2A

Signals
Conductor < 3 ohm, 0,154 mm 2
Max . voltage 50VAC/DC
Max. current 250 mA

INSTALLATION
3:14



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 3.9
Sensor interface

3.9 .1
General

A detailed description of the sensor interface and adaptivity is included in the Programming
Manual . The following sensor types can be connected :

SENSOR TYPE SIGNAL LEVEL

Digital one bit sensors High "1"

"0"
Low

Digital two bit sensors High "01"

No signal "00"
Low "10"
Error status "11" (stop of programme running)

Analog sensors -10 V to +10 V

The sensors can be used for the following functions. The sensors are connected to the control
cabinet via inputs on the circuit boards in accordance with the table :

SENSOR FUNCTION CONNECTED VIA

Digital one bit sensor Distance searching System board

Digital two bit sensor Distance searching Digital I/0 board

Speed control Digital I/0 board

Digital two bit sensor Distance searching - Digital I/O board

Direction searching Digital LO board
Speed control Digital LO board
Contour tracking Digital 1/0 board

Analog sensor Distance searching Analog LO board

Direction searching Analog I/O board
Speed control Analog UO board
Contour tracking Analog LO board

INSTALLATION
3: 19
 3.9.2
Connection of digital sensors

A digital sensor can be connected to any of the inputs . Both bits in a two bit sensor are to be
connected to input channels within the same 8-16 bit group . The connection is to be made to
two input channels next to each other, with the lowest bit connected to the input channel with
the lower number.

Up to three one-bit sensors for distance searching can be connected to the sensor inputs of the
system board. These inputs have faster response time, 12±5 ms compared to 12 (-5 +15) for
the digital inputs . The inputs are supplied with +24 V voltage in the same way as for digital
LO.

NOTE! Sensor inputs on the system board cannot cope with input signals with pulse widths
between 0.2 and 4 ms . It is therefore important to use transducers with hysteresis,
intended for industrial environments .
Certain proximity transducers can give showers of pulses where they are at the
change-over point or if the supply voltage is disturbed.

CONNECTION TABLE - Signals from one-bit sensors via the safety board
User contact %S3 or XTS

Signal name Function Terminal Note

SENSOR 1 See Programming manual D10 logical input 237
SENSOR 2 See Programming manual D11 logical input 238
SENSOR 3 See Programming manual D12 logical input 239
0 V SENSOR 0 V, supply to SENSOR inputs D13

3.9.3
Connection of analog sensors

An analog sensor can be connected to any analog input on the analog I/O board.

INSTALLATION 83
3:20


C; -0
mO
N N

I o
D Z
WINCHESTER BOARD DSQC 22 y
Gs l 0
POWER SUPPLY
DSQC 241

DIGITAL RIO BOARD DSQC 23

I/O BOARD POSITION 6 AP16

DIGITAL VO BOARD DSQC 223 I/O BOARD POSITION 5 API5

9 I/O BOARD POSITION 4

AP14

COMB I/O BOARD DSQC 224 I/O BOARD POSITION 3 AP13

UO BOARD POSITION 2 AP12

ANALOG 1/0 BOARD DSQC 209
I/O BOARD POSITION1 API I
I
l
SYSTEMBOARD DSQC 252
AP41
AXES BOARD DSQC 233
L AXES BOARD AP51
AXES 7-12

COMPUTER BOARD AP31



3.10 .1
Digital LO

The system has 6 slots for U0 boards, 5 if Winchester memory is included. Each digital 1/0
board has 16 inputs divided into two groups of 8, and 16 outputs divided into two groups of
8 . Each group is intended for supply from 24 VDC . The groups are galvanically isolated and
can be supplied from a separate voltage as long as the potential relative to system ground is
not too high, or all groups may be supplied from the cabinet 24 V 1/0 supply .

3 .10.2
Technical data for each group of 8 channels

Inputs: Optoinsulated
Rated voltage 24 V DC + 45%, -20%
Input current at rated voltage 5 .5 mA
Min. 15 V gives "1", closed input
Max. 5 V gives "0", open input
Outputs: Optoinsulated, current sourcing, short-circuit protected
Rated voltage 24 V DC +45%, -20%
Max . load capacity per output 200 mA
Max . load capacity for the complete group of 8 outputs 1 A
Voltage drop in amplifier max . 2 .5 V
An active signal (output set to 1) means that current is sourced .
Pulsed output means that the output status is inverted
during 200 ms.
3.10.3
Numbering of digital LO

Under "I/O USE" it is possible to choose between "TREDEF" and UO MAP" .

NOTE! When you push PREDEF and the BREAK/ACTIVE, you will have the predefined in-
and outputs activated. When you push I/O MAP and the BREAK/ACTIVE the I/O MAP is
activated.

PREDEF
PREDEF;The LO boards are numbered from right to left The logical numbering is 1-128
for inputs and outputs . The relation between physical inputs/outputs and logical
inputs/outputs is not dependant on the place at which the board is located . The numbering
always begins with the first digital board irrespective of its place in the rack .

If SYSTEM I/O and/or REMOTE CONTROL PANEL alt ESAB I/O are defined for one or
two of the I/O boards the consequent connection between physical inputs/outputs and
logical numbering of in/outputs will be changed in accordance with the following :

• SYSTEM-LO or ESAB 1/0 defined .

The logical numbering of inputs/outputs omits the physical inputs/outputs 9-16 on the
board selected.

• REMOTE CONTROL PANEL defined .

The logical numbering of inputs/outputs omits the physical inputs/outputs 1-8 on the
board selected for Remote control I/0 .

To avoid jumps in the numbering, the SYSTEM LO and/or REMOTE CONTROL

PANEL LO should be defined on the last digital LO board .

INSTALLATION
3:22


I/O MAP
• LO MAP, Possibility to assign any digital, system or panel 1/0 to any arbitrary
physical U0 channel.

Under the function DIG both board place and channel on the board are defined and
the position is given a logical I/0 number between 1 and 190 .

- Under SYS the required system-inputs and outputs are defined, by entering board
place and channel number . To continue in the menue, answer the question
CONTINUE with YES .

Under PANEL are, in the same way, inputs and outputs for remote panel defined.

Under LINK L0 a physical output is connected to a physical input, so that the

output is activated/resetted when the input is activated/reseted .

The desired input must be defined as digital, system or panel input before linking it
to an output .

To change a link, first clear the linked I/O table and then define all desired links again .
It is possible to link more than one output to the same input. Up to 15 links are
allowed.

NOTE! If I/0 MAP is used, gl_l digital inputs and outputs must be defined on defined digital
boards in the system. It is adviseable to note on paper all mapped and linked 110,
see 52 .4 .7 .3 for a list of available system and panel UO.The following are connection
tables for digital 1/0 boards with the recommended placing in the controlcabinet :

CONNECC ION TABLE

digital I/O board place User contact User contact relay

place 1 AP11 XS 11 or XT 11 AP21.XT1

place 2 AP12 XS12 or XT 12 AP22 .XT1
place 3 AP13 XS13 or XT 13 AP23.Xr1
place 4 AP14 XS14 or XT 14 AP24.XT1
place 5 AP15 XS15 or XT 15 AP25X 1
place 6 AP16 XS16 or XT 16 AP26.XT1


Signal name Function XS XT AP-Belay

INPUT CH 1 B3 2 XTL201
INPUT CH 2 C3 3 XT1.202
INPUT CH 3 D3 4 XTL203
INPUT CH 4 A4 5 XTL204
INPUT CH 5 B4 6 XTL205
INPUT CH 6 C4 7 XT1.206
INPUT CH 7 D4 8 XTL207
INPUT CH 8 A5 9 XTL208
Ul- OV,supply to group 1 B5 10 XT1.U1-
INPUT CH 9 D5 12 XTL209
INPUT CH 10 A6 13 XTL210
INPUT CH 11 B6 14 XTL211
INPUT CH 12 C6 15 XTL212
INPUT CH 13 D6 16 XTL213
INPUT CH 14 A7 17 XTL214
INPUT CH 15 B? 18 XTL215
INPUT CH 16 C7 19 XTL216
U2 -OV;supply to group 2 D7 20 XTLU2-
U3+ 24 V, supply to group 3 AS 21 XTl.+
OUTPUT CH 1 B8 22 XTL14(12) XTLll 1)
OUTPUT CH 2 C8 23 XTL24(22) XT1.21
OUTPUT CH 3 D8 24 XTL34(32) XT1.31
OUTPUT CH 4 A9 25 XT1.44(42) XT1.41
OUTPUT CH 5 B9 26 XTL54(52) XT1.51
OUTPUT CH 6 C9 27 XT1 .64(62) XTL61
OUTPUT CH 7 D9 28 XT1.74(72) XT1.71
OUTPUT CH 8 A10 29 XTL84(82) XT1.81
U3- OV, supply to group 3 B10 30 .-
Mi
U4+ 24 V,supply to group 4 C10 31 XTl.+
OUTPUT CH 9 D10 32 XTL94(92) XTL91
OUTPUT CH 10 All 33 XT1.104(102) XT1 .101
OUTPUT CH 11 Bll 34 XTL114(112) XTL111
OUTPUT CH 12 Cli 35 XT1.124(122) XTL121
OUTPUT CH 13 Dii 36 XT1.134(132) XT1.131
OUTPUT CH 14 A12 37 XT1 .144(142) XT1 .141
OUTPUT CH 15 B12 38 XTL154(152) XT1.151
OUTPUT CH 16 C12 39 XT1.164(162) XTL161
U4- OV,supply to group 4 D12 40 XTL-

1) xL14 normal open contact

(12) normal cloced contact
11 common
 3 .10.4
System-I/O

;The 8 last physical inputs and outputs on any, but preferably on the lad digital IQ
hgand can be reserved for certain dedicated system functions, designated system-1/O, with the
help of a system parameter.

CONNECTION TABLE (For relay unit, see 3.10.3)

Signal name Function XS %T

INPUT CH 9 Interrupt instruction D5 12

INPUT CH 10 Interrupt program A6 13
INPUT CH 11 Jump to program 1 B6 14
INPUT CH 12 Jump to program 2 C6 15
INPUT CH 13 Jump to program 3 D6 16
INPUT CH 14 Jump to program 4 A7 17
INPUT CH 15 Jump to program 5 B 7 18
INPUT CH 16 Restart arc welding C7 19 Only AW
U2- 0 V, supply to group 2 D7 20
U4+ 24 V, supply to group 4 Cl0 31
OUTPUT CH 9 Gripl D10 32
OUTPUT CH 10 Grip 2 All 33
OUTPUT CH 11 MOTOR ON Bil 34
OUTPUT CH 12 CYCLE ON Cll 35
OUTPUT CH 13 CYCLE ERROR Dll 36
OUTPUT CH 14 MANUAL REDUCED SPEED,
MANUAL FULL SPEED A12 37

OUTPUT CH 15 SEARCH STOP B12 38

OUTPUT CH 16 Not used C12 39
U4- 0 V, supply to group 4 D12 40

NOTE! Input signals must be delayed in relation to each other by at least 10 ms and activated
in the correct sequence to be sure that they are processed in the correct order and
interpreted correctly by the system.

1/O MAP; When system- LO under UO MAP is used also the following functions are available .

SYSTEM AUTO The output SYSTEM AUTO is set when all of the following are set -
- Key switch is in AUTO
- No Emergency stop
- SYSTEM AUTO INPUT is trigged
It is reset when any of the three first conditions is not true or an error code
appears .

HOLD/RESET HOLD . EXTERNAL HOLD/RESET HOLD . HOLD ACKNOWLEDGEMENT .

When EXTERNAL HOLD is activated (active low) the system is taken to program stop and
after 1 sec. to MOTOR OFF. An output HOLD ACKnowledge is activated as long as the system
is in HOLD state . When HOLD RESET is set, the motors are energized (= MOTOR ON) and
the program starts (PROG START). HOLD RESET is only permitted when the system is in
SYSTEM AUTO and EXTERNAL HOLD is passive .EXTERNAL HOLD can stop the robot in
both AUTO and MANUAL mode . HOLD state is cancelled by pressing MOTOR OFF (vaild
only if SYSTEM AUTO INPUT has been defined) .

Note 1 . To achieve soft stop followed by MOTOR OFF condition utilizing dual channel safety,
see 3.5.1.
To resume MOTOR ON and program running use AUTO INPUT .

Note 2. If flexible UO (I/0 MAP) is used, the SWI inputs are always 1-6 and the SWI outputs
1-13 as shown in 3 .16, irrespective of where the SWI board is located .
These inputs and outputs are to be defined under 1/O MAP .

INSTALLATION


ERROR IN AUTO, Activated when an error occurs that stops program execution provided
SYSTEM AUTO INPUT is set . The most common operators faults does not
set this output.

MOVE RESTART When input MOVE RESTART is activated (activ high) and the robotsystem
is taken to mode "MOTOR ON" the function MOVE RESTART
(See MOV REST chapter 7 .11 in Programming manual) is executed.

3 .10.5
ESAB LO

The ESAB- UO is a variant of the system -1/O (only AW) .

The ESAB 1/O is only available on LO board position 3, and can not be used together with
System-I/O or Panel-I/0 .

CONNECTION TABLE (For relay unit, see 3 .10.3)

signal name Function XS %T

INPUT CH 9 Interrupt instruction D5 12

INPUT CH 10 Interrupt program A6 13
INPUT CH 11 Jump to program 1 B6 14
INPUT CH 12 Jump to program 2 C6 15
INPUT CH 13 Restart arc welding D6 16
INPUT CH 14 PROG STOP A7 17
INPUT CH 15 PROG START B7 18
INPUT CH 16 SYNC C7 19
U2- 0 V, supply to group 2 D7 20
U4+ 24 V, supply to group 4 Clo 31
OUTPUT CH 9 Gripl D10 32
OUTPUT CH 10 Grip2 All 33
OUTPUT CH 11 MOTOR ON Bll 34
OUTPUT CH 12 Cycle on Cll 35
OUTPUT CH 13 Cycle error Dil 36
OUTPUT CH 14 MANUAL REDUCED SPEED,
MANUAL FULL SPEED A12 37
OUTPUT CH 15 Search stop B12 38
OUTPUT CH 16 Not used C12 39
U4 0 V, supply to group 4 D12 40

Note! If flexible LO (I/0 MAP) is used, all in- and outputs above are available under SYSTEM
or PANEL menus.

INSTALLATION S3
3:26


3.10 .6
Panel -LO
i
Wi the help of one system parameter is it possible to reserve the 8 first physical inputs/out-
,,puts eligible digital I/0 board, for remote control of one or several robot system . The last
on
I/0-board in the frame is recommended .

The last inputs and outputs on this board can be used for system I/O or as general inputs and
outputs.

CONNECTION TABLE (For relay unit, see 3 .10.3)

Signal name Function XS XT Remark

INPUT CH 1 MOTOR ONbutton B3 2 Active only in AUTO
INPUT CH 2 MOTOR OFF button C3 3
INPUT CH 3 FROM DISK button D3 4 Active only in AUTO
INPUT CH 4 Key switch, contact A4 5
INPUT CH 5 LAMPTEST button B4 6
INPUT CH 6 PROG STOP button C4 7
INPUT CH 7 FROG START button D4 8 Active only in AUTO
INPUT CH 8 SYNC button A5 9 Active only in AUTO
U1- 0 V, supply to group 1 B5 10
U3+ 24 V, supply to group 3 A8 21
OUTPUT CH 1 MOTOR ON lamp B8 22
OUTPUT CH 2 PROG START lamp C8 23
OUTPUT CH 3 SYNC lamp D8 24
OUTPUT CH 4 MOTOR OFF lamp A9 25
OUTPUT CH 5 PROG STOP lamp B9 26
OUTPUT CH 6 . FROM DISK lamp C9 27
OUTPUT CH 7 ERROR lamp D9 28
OUTPUT CH 8 EMERGENCY STOP lamp A10 29
U3- 0 V, supply to group 3 B10 30

Above logical inputs and outputs are available when system- LO under I/O MAP is used . Then
they are defined on selectable physical in- and outputs .
Note! You can define just one or a few of the panel in- and outputs and selec at any place
phsical in- and output.

3 .10.7
Error outputs

• ERROR lamp (Panel I/O) is set simultaneously with flashing lamp in MOTOR OFF button .
It is also set at LAMP TEST. Any error is indicated including wrong commands .

• CYCLE ERROR (System LO) is set at every error of type 5u independent of operating
mode selected.

• ERROR IN AUTO (System I/O avaible in I/O MAP) is set at errors stopping program
running provided that SYSTEM AUTO INPUT is set .


3.10.8
System ports

Individual inputs/outputs can be wed separately in a user program or, alternatively, can be
addressed as a group, called a port .

The status of an input in an input port in read to a register on giving the fetch command . See
the Programming Manual. To set on output port, the value of a register is transferred to the
port. Portsl, 2 and 11,12 are 4-bit ports and the numerical value they can handle is therefore
0-15. Ports 3, 4 and 13,14 are 8-bits and can handle 0-255 .

The ports are only active in connection with execution of REGISTER instructions . The normal
functions of the digital inputs/outputs in other program sections is not affected .

The port can contain 4 inputstoutputs (ports 11,12, 1 and 2) or 8 inputloutputs (ports 13, 4, 3
and 4). There are also two sequential ports 70 and 80 which embrace both inputs and outputs .

Possible couplings between inpnts/outpnts and ports 1-4 or ports 11-14 are shown in the table
below. (LSB means Least Significant Bit and MSB means Most Significant Bit) .

Port no. Logical output Port no. Logical input

1 First bit (LSB) 1 First bit (LSB)

1 2 • 4 0-15 11 2 • 4 0-15
3 3
4 Last bit (MSB) 4 Last bit (NEB)

13 First bit (LSB) 13 First bit (LSB)

2 14e 4 0-15 12 14* 4 0-15
15 • 15 •
16 Last bit (MSB) 16 Last bit (MB)

17 First bit (LSB) 17 First bit (LSB)

18 • 18 •
19 • 19 •
3 209 8 0-255 13 20 • 8 0-255
21 • 21 •
22 22
23 23
24 Last bit (MSB) 24 Last bit (MSB)

25 First bit (LSB) 25 First bit (LSB)

26 26
27 27
4 28* 8 0-255 14 28* 8 0-255
29 29
30 30
31 • 31 •
32 Last bit (MSB) 32 Last bit (MSB)

INSTALLATION S3


Port 70 and part 80

The port numbers 70 and 80 are used to transmit 16 bit binary numbers . The transmission is
sequential and divided into four sections with four bits each time . The robot system and the
peripherals "shake hands" between each section of four bits .

The table below shows the coupling between inputstoutputs and ports 70 and 80 . The number
of bits is 4 x 4, and the value of the number register can be between -32 .768 and +32.767

Port no . 70 Data out Port no. 80 Data in

but Intent
1 First bit (LSB) 1 First bit (LSB)
2 2
70* 3 3
4 Last bit (MSB) 4 Last bit (MSB)
5 5
6

Input (control) Output (for control)

5 1 First bit (LSB)
2
3
4 Last bit (MSB)

* Excludes use of port 1 **Excludes use of ports 1 and 11

A fuller explanation of the use of these ports is included in the Programming Manual .

3.10.9
Remote I10, RIO (Remote Input Output)

The control system can be equipped with one RIO-board . The RIO-board can be programmed to
32, 64, 96 or 128 digital in- and outputs, depending on how many other digital I/O boards that
are installed in the system.

On the front of the board there are 32 leds. The first 16 is used to indicate status for the first
16 inputs on the RIO-board, the other 16 is for indication of the first 16 outputs.

Connect the cables from the RIO link according to the table page 6 . If it is the last unit on the
RIO-link, con-nect the termination resistor to the terminals X2.1 and X2 .2.

Connect the cables from the RIO link according to the table

The RIO-board is to be connected to an ALLEN BRADLEY PLC with a screened, two conductor
cable according to ALLEN BRADLEY specification .


Connections on XT17 (NOTE! Terminals on the back side of swing-out frame)

RIO-Board RIO-link RIO-link Termination resistor

harness in out (if last unit)
Wire term term term
Blue X3.1 XL1 X2.1 X2 .1
Clear X3.2 X2.2 X2 .2
Shield Chassis X1.3 X2.3

To increase the noise immunity the RIO-link cables should be routed separate from power
cables to motors, analogue signals or other wiring .

Please refer to chapter 525 for further information of RIO-board DSQC 239 .

lbb peodoerioe _,___l_ a ao ow lint rbieI is Boomed under ps and raqwWazy v eCAfen-andiey
pro I as the responzAAM y or and provided by AU Raboda A&


3.11
Analog DO (option)

Qpg analog UO board can be placed at board position L A board is available for analog
inputs/outputs with:
• 4 inputs for 0 - :±10 V
• 3 voltage outputs for 0 -±10 V
• 1 current output for 0 - ±20 mA

As a alternative is a combined 1/0 board available, see 3 .1L3.

The inputs and outputs belong to a common group which is galvanically isolated from the
electronics of the control cabinet. The analog 1/0-board is placed on I/O-board position
l.(D26.168) but connected to a separate contact .

The analog inputs and outputs in the robot system can be supplied with an internal ±15 V
voltage from the control cabinet or with an external ±15 V voltage. When internal ±15 V
voltage is used, there is no galvanic isolation between the analog inputs/outputs and the
control cabinet electronics.

The function of the analog I/O board is shown in principle in the following figure :

n
Control D/A- Y
Program h~ rl convertor
Y
Control
signals u
u
4 4 4 0 V-signal

AID-
convertor

Fim Filter
FO-1 0 Hz

Fiter
FO=10 Hz

Filter
F0=100Hz
-am-
Fiter
F0=100Hz

10 V-signal
+15 V EXT
-15 V EXT
0 V EXT

+15 V INT
-15 V INT
ow- 0 V INT

INSTALLATION S3
3:31


Technical data

Inputs
• 2 with input filter break point = 10 Hz
• 2 with input filter break point = 100 Hz

Common data:
Input impedance 1 Mohm
Input voltage ±10 V
Resolution 10 mV (10/1024 V)
Inaccuracy 15 mV + 0 .2% of input signal

outputs
• 3 voltage outputs
Output voltage ±10 V
Load impedance >2 kohm
Resolution 10 mV (1011024 V)
Inaccuracy 25 mV + 0.45% of output signal

• 1 currant output
Output Current ±20 mA
Load impedance <450 ohm
Resolution 20 µA (20/1024 MA)
Inaccuraw 60 p A + 0.5% of output current

External ±15 V supply

Voltage 14.3 - 15.7 V
Max . current requirement with
full load +15 V: 240 .mA
-15 V:130 mA
Ma=m potential in relation to
cabinet earth 500 V for a maximum of 1 minute
50 V continuously

Signal class iapnts/outpufs

and internal supply Measurement signals

3.11.1
Analog Ports

The physical input/output signals are coupled logically to different ports . A "port" is the robot
system designation of analog inputs/outputs . Port numbers used are:
• 31- 34 inputs .
• 21- 24 for outputs .

Part 31-34 can transfer 0 .01-10 V to a register who will get the value 1-1024 .

Port 21-23 transfer register values 1-1024 to analog outputs 0.01-10 V.

Port 24 transfer register values 1-1024 to analog outputs 0 .02-20 mA.



3.11.2
Analog Connections

The connection table below presents the connection between physical inputs/outputs and ports :

Signal name Function Terminal Notes

XS10 XT10
INPUT CH 1 0 - ±10 V max. 10 Hz B3 2 Port 31
INPUT CH 2 0 - ±10 V max. 10 Hz A3 1 Port 32
INPUT CH 3 0 - ±10 V max. 100 Hz D3 4 Port 33
INPUT CH 4 0 -±10 V max. 100 Hz C3 3 Port 34
ov Return analog input B4 6 Internally connected to A4(5)
0V Return analog input A4 5 Internally connected to B4(6)

OUTPUT CH 1 0 -±-10 V min. 8 kohm D4 8 Port 21 Normally voltage

reference in AW-systems
OUTPUT CH 2 0-±10 V min . 4 kohm C4 7 Port 22 Normally current
reference in AW-systems
OUTPUT CH 3 0 -±10 V min . 2 kohm B5 10 Port 23
OUTPUT CH 4 0 -+±`
t2O =A max. 450 ohm D5 12 Port 24
oV Return analog output A5 9 Internally connected to C5(11)
0v Return analog output C5 11 Internally connected to A5(9)

EXT +15V External supply +15 V B6 14 +15 V supply of analog I/O

Internally connected to A6(13)
EXT +15V External supply +15 V A6 13 +15 V supply of analog 1/0.
Internally connected to B6(14)
EXT -15 V External supply -15'V B? 18 -15 V supply of analog I/O .
Internally connected to A7(17)
EXT -15 V External supply -15 V A7 17 -15 V supply of analog 1/O .
Internally connected to B7(18)
0V 0 V external supply D6 16 0 V supply of analog I/O .
Internally connected to C6(15)
0v 0 V external supply C6 15 0 V supply of analog I/O .
Internally connected to D6(16)

The following applies with internal supply:

There is no galvanic isolation from the control cabinet electronics.

The internal +15 V, -15 V and 0 V are available at the same contact (duplicated with internal
connector) and must be strapped to the corresponding terminal for external voltages .
The internal +15 V, -15 V and o V may only be used for voltage supply of the analog 1/O board .

D T+15 V Internal supply +15 V Dll 36 Strapped to a B6

and/or A6(14,13)
INT +15 V Internal supply +15 V C11 35 Strapped to a B6
and/or A6(14,13)
INT -15 V Internal supply -15 V B12 38 Strapped to a B7
and/or A7(18,17)
I NT -15 V Internal supply -15 V A12 37 Strapped to a B7
and/or A7(18,17)
0V 0V D12 40 Strapped to D6
and/orC6(16,15)
0V 0V C12 39 Strapped to D6
and/or C6 (16,15)


3.11.3
Combined L0 (option)

A combined llO board can be placed at board position 1, a board with both digital and analog
functions:
• 16 digital inputs -m/"
• 16 digital outputs
• 2 voltage outputs for 0 - +10 V
The combined I/O board has 16 digital inputs divided into two groups of 8, and digital 16
outputs divided into two groups of 8 . Each group is intended for supply from 24 VDC . The
groups are galvanic ally isolated and can be supplied from a separate voltage as long as the
potential relative to system ground is not too high, or all groups may be supplied from the
cabinet 24 V I/O supply.

The two analog outputs belong to a common group which is galvanically isolated from the
electronics of the control cabinet . The combined I/O is placed at board position 1 (D26 .168), but
is connected separately for digital respective analog park

The two analog outputs in the robot system can be supplied with an internal t15 V voltage
from the control cabinet or with an external t15 V voltage . When internal t15 V voltage is
used, there is no galvanic isolation between the analog outputs and the control cabinet
electronics.

Technical data Digital input/output for each group of 8 cbannels

Inputs: Optoinsiilated
Rated voltage 24 V DC + 45%,-20%
Input current at rated voltage 5.5 mA
Mm. 15 V gives "1", closed input
Max. 5 V gives "0", open input
lose
Outputs: Opt current sourcing, short-circuit protected
Rated voltage 24 V DC +45%,-20%
Max. load capacity per output 200 ma
Mar load capacity for the complete group of 8 outputs 1 A
Voltage drop in amplifier max. 2.5 V
An active signal (output set to 1) means that current is sourced.

Technical data Analog output

Outputs: 2 voltage outputs

Output voltage 0- +10 V
Load impedance >2 kohm
Resolution 10 mV (10/1024 V)
Inaccuracy 25 mV + 0.40% of output signal

External +15 V supply .

Voltage 14.3 - 15.7 V

Max . current requirement at heavy load ±15 V: 15 mA
Max . potential in relation to cabinet earth 500 V for a maodmum of 1 minute
50 V continuously
Signal class inputs/outputs
and external supply Measurement signals
 311.4
Connection tables - combined LO

The following are connection tables for combined 1/0 boards with the recommended placing
in the control cabinet:

CONNECTION TABLES - digital channel

User contact XS11 ELLER XT11

Signal name Function Terminal

XS11 XT11

INPUT CH 1 B3 2 Logical input 1

INPUT CH 2 C3 3 Logical input 2
INPUT CH 3 D3 4 Logical input 3
INPUT CH 4 A4 5 Logical input 4
INPUT CH 5 B4 6 Logical input 5
INPUT CH 6 C4 7 Logical input 6
INPUT CH 7 D4 8 Logical input 7
INPUT CH 8 A5 9 Logical input 8
Ul- 0 V, supply to group 1 B5 10
INPUT CH 9 D5 12 Logical input 9
INPUT CH 10 A6 13 Logical input 10
INPUT CH 11 B6 14 Logical input 11
INPUT CH 12 C6 15 Logical input 12
INPUT CH 13 D6 16 Logical input 13
INPUT CH 14 A7 17 Logical input 14
INPUT CH 15 B7 18 logical input 15
INPUT CH 16 C7 19 Logical input 16
U2- 0 V, supply to group 2 D7 20
U3+ 24 V, supply to group 3 AS 21
OUTPUT CH 1 B8 22 Logical output 1
OUTPUT CH 2 C8 23 Logical output 2
OUTPUT CH 3 D8 24 Logical output 3
OUTPUT CH 4 A9 25 Logical output 4
OUTPUT CH 5 B9 26 Logical output 5
OUTPUT CH 6 C9 27 Logical output 6
OUTPUT CH 7 D9 28 Logical output ?
OUTPUT CH 8 A10 29 Logical output 8
U3- 0 V, supply to group 3 B10 30
U4+ 24 V, supply to group 4 C10 31
OUTPUT CH 9 D10 32 Logical output 9
OUTPUT CH 10 All 33 Logical output 10
OUTPUT CH 11 Bll 34 Logical output 11
OUTPUT CH 12 Cll 35 Logical output 12
OUTPUT CH 13 Dll 36 Logical output 13
OUTPUT CH 14 A12 37 Logical output 14
OUTPUT CH 15 B12 38 Logical output 15
OUTPUT CH 16 C12 39 Logical output 16
U4 0 V, supply to group 4 D12 40

INSTALLATION S3
 CONNECTION TABLE - analog channels
User contact: XS10 or XT1o

Signal name Function Terminal Notes

X310 XT10
INPUT CH 1 0-+10V D3 4 Internal testing input
INPUT CH 2 0-+10V C3 3 Internal testing input
0v Return testing input B3 2 Internally connected
to eachother. A3(6)
0v Return testing input B3, A3 1 Internally connected
to eachother. C3(5)

OUTPUT CH 1 0 -±10 V min . 2 kohm D4 8 Port 21 Normally

voltage reference
in AW-systems

OUTPUT CH 2 0 - ±10 V min. 2 kohm C4 7 Port 22 Normally

current reference
in AW-systems
ov Return analog output B5 10
0v Return analog output D5 12

EST +15V External supply +15 V B6 14 +15 V supply of analog

outputs . Internally
connected to
eachother. A6(13)

E8T +15V External supply +15 V A6 13 +15 V supply of analog

outputs. Internally
connected to
eachother. B6(14)

EXT -15 V External supply -15 V B7 18 -15 V supply of analog

outputs. Internally
connected to eachother. A7(17)
EXT-15V External supply -15 V A? 17 -15 V supply of analog
outputs. Internally
connected to eachother.(,18)
0V 0 V external supply D6 16 0 V supply of analog
outputs-Internally
connected to
eachother C6 .(15)

oV 0 V external supply C6 15 0 V supply of analog

outputs.Internally
connected to
eachother. D6(16)

INSTALLATION 63
 The following applies with internal supply :

There is no galvanic isolation from the control cabinet electronics .

The internal +15 V, -15 V and 0 V are available at the same contact (duplicated with internal
connector) and must be strapped to the corresponding terminal for external voltages .
The internal +15 V, -15 V and 0 V may only be used for voltage supply of the analog I/O board .

INT +15 V Internal supply +15 V D8 (24) Strapped to a B6

and/orA6 (14,13)
INT +15 V Internal supply +15 V C8 (23) Strapped to a B6
and/orA6 (14,13)
MT -15 V Internal supply -15 V B8 (22) Strapped to a B7
and/orA7 (18,17)
INT -15 V Internal supply -15 V AS (21) Strapped to a B7
and/orA7 (18,17)
0 V 0 V D7 (20) Strapped to D6
and/orC6 (16,15)
0 V 0 V C7 (19) Strapped to D6
and/orC6 (16,15)

D STALLATION
s:37


3.12
Arc weld-LO (option)

312.1
General

For arc welding by an IRB 2000 AW, a 110 board is used in the control system for special arc
welding signals :

either • The first digital board.

• The analog board.

or • The combined VO

AWLO is mainly used together with ESAB welding equipment and positioner, who are
controlled with external axes and common drive units, see chapter 6, External axes .

The use of these boards is described in the Programming Manual.

Weld start welding Weld end

Logical output 9
Gas on

Logical output 7
Voltage on

Logical output 8
Wire feed on

Port 21
Welding voltage
reference . .

Port 22
Welding current
reference / wire
speed =j

Robot movement

Inactive signal
or activity a Hot start Cooling time

Gas pre flow Welding Filling time

Ignition (Incl . Bum-back tine Gas post flow time

possible strike)

INSTALLATION
&38
3.11.2
Servo-controlled positioner with common drive unit

The external axes can be distributed to different stations with the help of the parameter
STATION so that it becomes possible to activate these in suitable groups .
The stations can be activated/deactivated independently except when axes share a common
drive unit. One output and one input are connected to each station to permit activation of the
station and to check the status of the station respectively .

Example:
STATION A INPUT 11 OUTPUT 1 and AXES 7
STATION B* INPUT 12 OUTPUT 2 and AXES 8,9
STATION C* INPUT 13 OUTPUT 12 and AXES 10,11
STATION D INPUT 14 OUTPUT 13 and AXES 12

The axes 8 and 9 and 10 and 11, respectively share two drive units which means that the
stations B and C cannot be active simultaneously, this is marked with a * . In this case the
synchronized sequence is:
L C+ robot
2. B+A+D+ robot
3. B+D
are deactivated so that only A is active after the synchronization .

A switchover from station to C is Illustrated by the following time diagram :

Output 1 1
Input 11 1
Servo A 1 active
0

Output 2 I 1
Input 12 I 1
Servo B I 1 deactivated
0

Output 12 1
Input 13
0
Servo C 10 activated

Non-servo-controlled positioner

A non-servo-controlled positioner can be run with the help ov ports 70 and 80 . A description of
the principles of the ports 70 and 80 is given in section 3 .10.8.


Digital arc weld-I/O

The following digital inputs/outputs on the first LO board are reserved for fixed arc weld
functions in IRB 2000 AW robot systems . Contacts and outputs are shown in the connection
table for the first digital LO board in section 3 .10.3.

SIGNALS, WELDING EQUIPMENT

Imol
innutioutyu Function

Input 6 Supervision of gas/liquid cooling

The input is monitored during the weld start and during the welding .
An active signal indicates a sP+ ;cfAtory gas and liquid flow .

If the signal disappears, welding in progress is interrupted, an error

message is shown and the robot stops .

Input 7 Supervision of current

The input is monitored during the weld start, during the welding and
during the filling time . An active signal indicates a satisfactory
welding current.

If the signal disappears, welding in progress is interrupted, an error

message is presented and the robot stops .

Input 8 Wire feed on

The input is only activated for manual feed of a new welding wire .

Input 9 Process off

The input is activated to block the welding during the test running of
the welding program . The robot then executes program without
connecting the welding instruction via outputs 7-9-

input 10 Weaving Off

The input is activating for blocking a weaving motion during welding
in progress. The robot then executes the weaving instructions as
ordinary motions.

Output 7 Voltage on
An active signal connects the welding t.

Output 8 Wire feed on

An active signal connects the wire feeder.

Output q Gas on
An active signal connects the flow of protective gas .


SIGNALS, SERVO-CONTROLLED POSITIONER WITS COMMON DRIVE UNIT

le
innut/outnut Function,

Output 1-128 An output which is used to activateldeactivate the drive units for a
station. The servo-feedback control is disconnected before the output is
reset to 0 to deactivate the drive unit.

Input 11-16 Acknowledgement that a station is activated . The servo-feedback

control is connected when the signal has been received .

Only one input and one output are used with each station in accordance with the function
parameter STATION.

Analog or combined arc weld-LO

The following input/outputs are default for arc welding functions in an IRB 2000 AW robot
system. Contacts and outputs are presented in the connection table for the analog I/O board in
section 3.112 and for the combined I/O board in section 3 . 1L4- Other ports can be chosen
using the system parameters.

Analog
innut/OUtvnt Function

Port 21 Voltage reference

Control signal for welding voltage from the welding equipment .

Port 22 Curaent! Wire speed reference

Control signal for welding current or wire speed, if wire speed is
selected, from the welding equipment .

INSTALLATION
8:41

G

3.13
Program printout/comment entry (option)

The following is necessary for use of this function :

L A printer/terminal connected to contact XB2 (25 pole D-sub) at the front of the control
system.

The signals in the connector are: Note: 4 - 5, 6 - 8 - 20 should

2 = SEND be jumpered.
3 = EEC
5=CTS
4 = RTS
20 = DTR
7 = Signal Ground
1 = Ground, shield

Signal class: Data communication signals

2. The parameters for the robot must be correctly defined (see chapter 6,"System
parameters") .

3. The printer/terminal must have the following technical data :

Signal interface : V24 / RS232C

Transmission speed: 300 / 1200 baud
Word length: 8 bits
Parity None
Stop bit: 1 bit

For a more detailed description of the function, see the Programming Manual

Note! At a transmission speed of 1200 baud, the printer has to have a printing speed
a 150 character/ sec.

INSTALLATION
&42


3.14
Computer link (option)

The host computer - robot communication is asynchronous and via an RS232C interface . The
host computer has to contain communication software necessary .

The following is necessary for the use of a computer link:

1. The host computer is to be connected at connector XB1 (multipole type) on the left of the
control cabinet.

The signals in XB1 are:

A = SEND
• = REC
• = CTS, if CTS and WS are not used jumper D to E .
D = RTS, if CTS and RTS are not used jumper D to E .
• = DTR, if DT$ RIDS and DSR are not used, jumper J, H and F together .
• = RIDS, if DTR, RLDS and DSR are not used, jumper J, H and F together .
F = DSR, if DTE, RLDS and DSR are not used, jumper J, H and F together .
M = RI
• = Signal Ground
• = Ground, shield

Signal class : Data communication signals.

2. The communication parameters for the robot system must be correctly defined (see
chapter 6, "System parameters").

3. The robot system works with the following technical data

Signal interface: V24 / RS232C

Transmission speed: 9600 band
Word length : 8 bits
Parity: Even
Stop bit: 1 bit

For a more detailed description of the function, see description Computer Link .


31S
External operating panel (option)

The following devices can be placed in an external panel outside the control system :

• Operating panel
• Holder for programming unit
• LCD monitor (option)

When the external operating panel is specified the units above are delivered separately,
together with the necessary wiring, sealing strips, screws etc . and to be mounted together in
an external panel enclosure . Cover plates are mounted on the control system .

The external panel encloswe must be in accordance with the requirements of IEC
144 and ]EC 529 Degree of protection rating l' 54 (NEMA 12) .

See the dimensioned figure below for the mechanical assembly :

(ram)

12
Hole for flange
_x4)
T
Hole for programming unit connec to
n 23 193
D=25

IIJSTALLATION
8:44


The external operating panel is delivered with cables ended by a flange which should be
mounted in the external panel enclosure and an industrial connector XS16 .

See the figure below for the princible connections :

External panel enclosure

r
I I
I Operating panel I
I I
I I
i
XS16 I
I

I
I I
I I
I I
I I
L ~
ProGr 'rnming
unit connector

INSTALLATION
3:45
3.17
U0 signals - SWI (Spot Welding, Interface)
On the I/O board DSQC 223 some input and output signals are used for the SWI function, see
the figure below. All inputs, however, are still freely programmable and within reach under
the MANUAL button . The outputs are also programmable as usual but it is not possible to
control them under the MANUAL button.

The GRIP 1 and GRIP 2 signals are used to control both the working stroke and the opening
stroke of the first gun . These signals have therefore also been put on the same board as all the
other SWI signals. GRIP 1 and GRIP 2 are also available if you have an I/O system.

If a double gun is used, GRIP 3 and GRIP 4 are used for the working stroke and, opening
stroke, respectively, of gun two . These output signals are then defined in the usual way in the
functional parameters.

An example of reserved inputs and outputs for the SWI fimction, if the board is placed in the
second space.

Aesbel I/O
no. ch no.
INPUT
inp
1 WELD. READY 17 1
00 9 25
2 TIMER OK 18 2 00 10 26
3 CURRENT OK 19 3 00 11 27
4 FLOW OK 20 4 00 12 28
5 TEMP OK 21 5 0 0 13 29

6 ENABLE MOVE 22 6 00 14 30
23 7 00 15 31

OUTPUT 24 8 00 16 32

out
1 START 1 17 1 00 9 25 WELD PROGRAM '1'
2 START 2 18 2 00 10 26 WELD PROGRAM 2'
3 CURRENT ENABLE 19 3 00 11 27 WELD PROGRAM '4'
4 WELD POWER 20 4
00 12 28 WELD PROGRAM '8'
5
6
RESET 21 5
00 13 29 WELD PROGRAM '16'

7
GRIP 1
GRIP 2
22
23
6
7 00 14
15
30

8 PARITY 24 8 0 0 1s
31
32
00
DSQC
223
For more information, see Programming Manuall

NOTE 1. If flexible 1/0 (I/O-MAP) are used, are SWI-input every time 1- 6 and SWI-output
1-13 see table independence of wher SWI-board is defin. This in- and output must be defined
in 110 MAP

Note 2. Reserved input signals that are not used must be strapped to 24 V. This does not apply
to WELD READY, which has to be supplied from the welding controller (see above) to make it
possible to execute the SWI -instruction .


4
MAINS CONNECTION AND STARTUP

4.1
Power cable connection.

• 4-conductor cable - 3-phase and protective earth for all

voltages.
• 5-conductor cable including zero if the option supply to service outlet and
illumination before the mains switchis ordered.

A gland for passage of the mains supply cable into the cabinet is located on the left
hand side .
As option, power intake type CBE 3x16Amp's or 3x32 Amp's or industrial connector
type Harting 6HsB can be use .
Connection according to circuit diagram in S3 Service Manual .

Top left

3 hand side
of
controller
r

4.1 .1
Connection on left hand side

Pass a sufficient length of the mains supply cable through the gland to permit
connection to the line filter . Then tighten the gland. To work with the line filter you
need to take avay protection cap .

The mains voltage is connected to the line filter inside the cabinet according to the
figure below:

LEFT INSIDE WALL OF CABINET

Line filter Screw for protetive earth

Zero connection (Option)

r ~I
S L_ L_I

Cable gland

.
o
?oooooo

The protective earth is to be connected to the protective earth screw .

INSTALLATION
4:1
 4.1.2
Mains transformer IWA

Mains voltage (3-phase) Recomended

connection fuse
3 x 200 V, 220/230 V 25 A
3 x 380/400 V, 400/415 V 16 A
440 V, 475 V, 500 V, 525 V, 600 V

ROBOT TYPE MAINS VOLTAGE

TRANSFORMER 3HAA 3101- JUMPERS
IRB 2000, 3X00 -CB -CC -CD
IRB 6000 -CE -CF
200V 380V/400V 200V 200V 1-21, 2-31, 3-11
220V 400V/415V 220V 220V 1-22, 2-32, 3-12
440V 380V/400V 500V 1-23, 2-33, 3-13
475V 400V/415V 525V 1-24, 2-34, 3-14
440V 600V 1-25, 2-35, 3-15
475V 1-61, 2-71, 3-51
-000
500V 1-62. 2-72, 3-52
525V 1-63, 2-73, 3-53
600V 1-64, 2-74, 3-54

INSTALLATION
4:2


4.2
Check list before startup

Before switching on the power, check as follows :

1 . The mains supply fused rating .

2 . The supply transformer in the cabinet is connected for the correct voltage .

3. The unused circuits in the safetychains must be closed by connecting jumpering.

Auto Stop : XS3 or XT3 A3 - A4 and B3 - B4

Manual Stop : XS3 or XT3 A1- A2 and Bl - B2
General Stop : XS3 or XT3 A5 - A6 and B5 - B6
Customer emergency stop XS3 or XT3 A7 - AS and B7 - B8,
A9 - A10 and B9-B10
MOTOR OFF clamping device XS3 or XT3 Cl-C2andDl-D2
External axes limit switches : XS3 or XT3 All -A12andBll-B12
Ext.drive units POWER OK XS3 or XT3 C12 - C16

4. If the controller includes the external axes option, check that the external axes
connections are made, or the following circuits are jumpered :

Motor PTC, axis 7: XS7 Dl - D2

7th(- 12th) axes limit switches: XS7 A4 -A5 and B4 - B5

5. The programming unit is connected.

6 . The operation modeselector on the operating panel is set to MANUAL

X250 mm/s .
4.3
Startup to standby

L Make sure the cabinet door is closed

2 . Switch the power on .

3 . The MOTOR OFF lamp on the control panel illuminates when the system has completed
the hardware and software diagnostic test . This test
lasts about 30 seconds .

The following may occur after the start up routine is completed:

A . Normal start with presentation of the message"ABB ROBOT SYSTEM AT

YOUR SERVICE".

B. Presentation of a fault message.

If the MOTOR OFF- lamp flashes, read the error message on the programming unit display .
Actions to be taken to correct different errors are described in separate sections in the
Programming Manual or the Service Manual . Correct the cause of the fault message and
continue the start procedure as in case 1 above .

C. System parameters absent

See the chapter "System parameters" .

INSTALLATION
4:3
Normally the robot starts up with the system parameters stored from the manufacturing . If
that's not the case and a the fault message "501 FAULT IN THE PARAMETER MEMORY,
RELOAD!" is displayed must the system parameters must from DISC be entered, acc. to
chap . 5.5"Parameter error" .

The system floppy disc delivered with the system is used .

This disc contains system parameters with resolver data that was valid at delivery of the
robot system (according to chapter 8) .

D . Specific system parameters.

Define the specific system parameters that is valid for the installation in question . Check
and entering of parameters is described in chapter 5 "System parameters" .

Before switching to the MOTOR ON mode, the system parameters must be checked in
particular the commntating offset and the robot sync . offset, to avoid racing and the
risk of a breakdown .

L After checking the system parameters the robot can be started .

From MOTOR OFF, as described in chapter 4 .3 the robot system is switched to
MOTOR ON by pressing the enabeling device on the programming unit .

2. Robot with absolute measurement has a well known absolute position if

the robotis calibrated and is therefor directly ready for operation .

Calibration is described in the service manual

If the robot has external axes that has to be synchronized (wellknown home
position) the MOTOR ON -lamp start to flash. The external axes
aresynchronized by
pressing the SYNC button on the programming unit .

3. The robot is ready for operation when the MOTOR ON - lamp stops flashing
and the text READY is presented on the display .

Before pressing the synchronization button make sure that external axes are free
to move into the synchronizing position (home position).
 5
SYSTEM PARAMETERS

5 .1
Introduction

All handling of system parameters should be performed by personnel familiar with robot
programming .

System parameters is the name given to certain basic data used by the robot system .
Duringrobot installation or programming they are given values which correspond to the
specific robot equipment and application.

The system parameters can be divided into two groups :

1. Individual parameters for a number of functions which can be given different values
("defined") to suit the configuration of the robot and control system (section 5 .2).

2 Parameters for calibration of the resolvers on each robot axis and defined external axis
(section 5.3) .

Active system parameters are available in a RWM memory which is provided with battery
backup .

Parameters in group 1 above are also stored on a PROM with predefined values. These
values (default values) are always available if other values have not been "defined" to the
RWM during installation or programming.

A complete set of system parameters should be stored (back-up) on a floppy disk or through a
computer link to a host computer. This is done in the event of a fault on the robot computer
board (RWM-memory with belonging battery back-up) .
Observe that when storing system parameters on a floppy disk or host computer is, beside
the sysemparameters acc . to group 1 and 2, also the following system- and programdata are
stored : TCP, BASE POINT, FRAME, ALIGN, SENSOR, PALET and SOFT SERVO .

Note that when loading parameters from the PROM memory to the RWM memory, values
for resolver data (parameters in group 2) are set to zero or lack a value, since these have no
predefined PROM values. These resolver data must therefor be entered manually after
loading parameters from the PROM memory. This is not the case when loading parameters
from a floppy disk, or from a host (superior) computer, provided of course, that resolver data
has been stored in these memories.

5.1.1
Handling system parameters

Note that if instead of completing the handling of the system parameters, the operator
switches off the power to the robot, the newly entered values of the parameter memory will
be lost.

To ensure future availability of the system parameters after commissioning or trimming it is

recommended :

1. To always store valid system parameters either on a diskette or on a superior computer if

connected and used as a Host .

2. The resolver and commutation offsets should, in addition, always be kept current in the
ID documentation of the robot installation.

INSTALLATION
5:1


The menu on the programming unit for selection of individual system parameters is built
up in accordance with the following principles:

The display of the menu on a certain level is obtained by pressing the function button
SCAN. Submenus are selected by pressing the function button for the function required .
A higher level menu is selected by pressing the function button BREAK
5 .1.2
System parameter menus
The main menus under PARAM are :

• CHANGE to check and change the individual system parameters, which all have
predefined values on delivery .
• FR DISK and TO DISK respectively to down load and store sets of parameters
between the RWM to a floppy disk.
• RESOLV to check and change the calibration of the resolvers (see remark
below).
• FR SC and TO SC respectively to down-load and store sets of parameters between
the RWM and a computer SC, or "option" .

The main menues under PARAM is only available if:

L Key-switch on the control cabinet are in either MANUAL or MANUAL FULL SPEED
mode.

2. If the robot is provieded with computer link the robot must be in LOCAL MOD .
The function RB-MODE under MANUAL is used for switching to local mode .

Remark.
For IRB 6000 there are no resolver COMMOFF parameters . The resolver is mounted in the
motor by the motor manufactor with a preset COMMOFF value .

INSTALLATION
5:2


(MANUAL w SCAN)

5.2 5 .1 .3 5.1 .3 5.3

i

5.1 .4 5.1 .4
I
The notations under the menu show in which section the parameter is explained.
When the programming unit shows a value for an individual system parameter, it is
possible to change the value by entering a new one . If the parameter is only to be
checked and not changed, the work is continued by the operator pressing ENTER
without entering any data.

Concluding actions :

When the check or change of individual system parameters under the modes CHANGE
or RESOLV is completed, the operation is concluded by pressing ACTIVE in the basic
menu.

A full list of parameters and keywords is included at the end of this chapter, see section
5.6 .

5.1.3
Handling system parameters to or from a diskette

Storage to diskette

Function Storage of active system parameters from the parameter memory to the diskette.
First insert a formatted diskette in the disk drive unit . The diskette may contain
associated program blocks.
Menu TO DISK fivm the main menu.

Note No initialization of the system is performed after this operation .

Loading from diskette

Function Loading of reserve-stored system parameters from diskette to the parameter

memory. First insert a diskette containing the required system parameters in the
disk drive unit.
Menu FR DISK from the main menu.

Check questions The system concludes with check questions and initialization as
described in section 5 .1.5.


5.1 .4
Handling system parameters to or from a (host) computer

Storage to (host) computer

Function Storage of active system parameters from the parameter memeory to a

superior computer . The operation requires the system to be in the REMOTE
MODE .
Menu TO SC from the main menu.

Resulting question
Entry of the BLOCK NO 0-9999 under which the system parameters are to be
stored .

Note No initialization of the system is performed after this operation .

Loading from a (host) computer

Function Loading of stored system parameter from a (host) computer to the parameter
memory . The operation is only permissible if the system is in the REMOTE
MODE.

Menu FR SC from the main menu .

Resulting question Entry of the BLOCK NO 0-9999 from which the system parameters
are to be accessed .

Check questions ".`he system concludes with check questions and initialization as
aescribed in section 5 .1
.5.

5.1.5
Concluding procedures

1. Every time the user chooses to load parameters from PROM, floppy disc or a superior
computer, the old parameters are copied to a mirror area A check question is displayed,
if the new RESOLV- parameters differs from the old ones, as per figure below, and then
the possibility is given to reload the old RESOLV parameters again. This is made so that
the robot specified parameters are not changed by mistake.

If the system parameters for synchronizingoffset, commutation offset and motor type
(RESOLV-parameters) not are the same as the old ones, the following menu is shown :

Answer the question, if the reloaded parameters should be valid or if the old RESOLV-
parametrers should be copied back into the memory :

NEW = All new parameters is going to be valid .

OLD = The old RESOLV-parameters together with the rest of the new parameters is
going to be valid.
 2. The control system is then restarted automaticly and if no error is detected, the
acknowledgement "ABB ROBOT SYSTEM AT YOUR SERVICE! - is presented.

3. After the system has been restarted :

- The operation mode is MOTOR OFT.
- All outputs are reset.
- All registers are reset.
- Program 0 is active .
- External axes are unsynchronized (if not absolute measurement).

In robot with external axes without the absolute measurement, these must be synchronized
after the MOTOR is selected .

No INIT is performed when ending the PARAM mode with ACT NE and no changes of the
systemparameters has been made, the robot then answers by displaying the main menue
under MAN.

When handling system parameters it is a good rule to always have access to stored
parameters on the floppy disc with the correct values.

INSTALLATION
5:5
 i

5.2
Individual system parameters

How the value of one or several individual parameters in the parameter memory is checked
or changed is described in this section .

5.2.1
Parameters, menus and submenus

The following menus for system parameters are available under PARAM + CHANGE in the
MANUAL mode on the programming unit . The notations under the menu show in which
section the parameter is explained, se also next page .

Basic, MB/ASM, S-WELD and (MUE : ARC Weld :

/'
5.1 .5 5.2.2 5.1 .5 5.2.2
j

52.42 52.4.2

5.2.4.3 52.4.5A 52.4.5 52.4.3 52.4.5A 52.4.5

j

52.4.16
L ) WIRE SP rf wire speed was
selected
L
Under PARAM + CHANGE, the basic menu can be left in two ways:

- Via ACTIVE as described in section 5 .L5 .

- Via PROM as described in sections 5 .2 .2.
 Sibnww b SAFETY

Sutwwwb KOUf

Sdxmw b LOAD

SiRmww b OPTION
Oorlw tabor v Wwa4 BASIC. MWASM and GLUE)

∎ ∎ U U
Sbtww b OPTION
portlu Abut tiifta WB MW ARCW)

aOnww 1DAUIO

52..74

Subnww b VOLT
(Am -pww w4rtaWS2XOAW)

S a wwtoCURW WIRE SP
(Amwldiq paramal~rfor IRS MW AW)

52424 52424

INSTALLATION
5 :7
 5.2.2
Loading of predefined system parameters from a PROM

Parameters in accordance with sections 5 .3 have no predefined values and are

cleared with this operation .

Menu
PARAM + CHANGE + PROM

Resulting menu
System language selection. Select the language required.

Check questions
The system concludes with check questions and initialization as described in section
5.L5.

INSTALLATION 83
5:8
 5.2.42
SYNC, robot mounting

Description
The parameter MOUNTING is used to define whether the robot is mounted standing
or suspended . The parameter is used to adapt the control of the servo system to the
gravitational conditions which apply in the alternative cases .

Menu
SYNC

Guide text
MOUNTING

Def. range
1= Standing robot
2 = Suspended robot (not IRB 6000)

Default value
1= Standing robot

T-.

INSTALIA TION


Absolute measurement system axes 7-12

Description
The parameter MEASUREMENT TYPE An (n = axis number) is used to define
the measuring system for the servo-system of the external axes . The measurement
system for axes 1-6 has always absoulute measurement That's also valid for axis 7
if it is controlled by a internal drive unit (see section about external axes) .

Menu
Resulting question after MOUNTING if external axes (8-12) are defined or if
external axis 7 is controlled from an external drive unit .

Guide text
MEASUREMENT SYSTEM TYPE An= (An: A7, AS, A9, A10, All, A12)

Def. range
0 = Servo system, axis An with sync. switch
2 = Absolute measurement servo-system axis An, according to the method with
Fine/ Coarse resolver .

Default value
0 = Servo system axis An with sync . switch

Note
The system cannot be started if the value of the parameter does not correspond to
the robots actual configuration.

Restart in absolute measurement system

Description
The parameter RESTART is used to specify whether the system is to execute an
integrated program which permits automatic restart after a power failure . The
function requires the selection of the absolute measurement system.

Menu
Resulting question if all defined axes have absolute measurement servo system .

Guide text
RESTART =

Deff range
0 = No restart
1 = Restart

Default value
1 = Restart

INnALLATION S3
5: 10
 Synchronization position

Description
The parameter SYNC POS NO is used to indicate where in the working range the
robot axes synchronizes and can be calibrated . For robots with absolute
measurement servo-system the position is used only for calebration . The
parameter can be used on standing or suspended robots .

Menu
Resulting question after MEASUREMENT TYPE An or after RESTART .

Guide text
SYNC POS NO =

Code 0 and 3 = 0° Code 0,1,2=0° Code 3, 4, 5 = -90°

AXIS2, AMU AXIS2

INSTALLATION
5: 11
 Def. range
0 = Synchronization position axisl = 0°, axis2 = 0°, axis 3 = 0°
1= Synchronization position axisl = -90°, axis2 = 0°, axis 3 = 0°
2 = Synchronization position axisl = +90°, axis2 = 0°, axis 3 = 0°
3 = Synchronization position axisl = 0°, axis2 = -90°, aids 3 = -90° (not IRB 6000)
4 = Synchronization position axisl = -90°, axis2 = -90°, axis 3 = -90° (not IRB 6000)
5 = synchronization position axisl = +90°, axis2 = -90°, axis 3 = -90° (not IRB 6000)

Def.range IRB 6000'S 3 .0-100

0 = Synchronozation position axisl = 0°, axis2 = +60°, axis3 = -60°
1= Synchronozation position axisl = -90°, axis2 = +60°, axis3 = -60°
2 = Synchronization position axisl = +90°, axis2 = +60°, axis3 = -60°

Default value
0 = Synchronization position axisl = 0°, axis2 = 0°

Note! Reference to testprogram for movement to calibration position in chapter 8 .3.

5.24.3
INCH/MM

Description
The parameter is used for selection of either SI-units or American units in operator
communication with the programming unit, monitor display screen and printer for
program printout .

Menu
INCH/MM

Guide text
UNIT =

Def. range
0 = SI-units (MM, MM/S, KG)
1= American units (INCH, INCH/MEN, POUND)

Default value
0 = SI-units

5.2.4.4
Zone

The zones used at points have different meaning and value, depending on which optimizing
principle is used ; speed or path optimizing. Path optimizing use a corner zone, showing how
far ahead of a point the control system should begin to generate a parabel path (a parabel
path is not generated at a fine point). Speed optimizing use a zero zone, showing the servo
system how close to the point the axes should be before driving towards the next point. Both
type of zones are installed with MANUAIJPARAM/CHANGE/
AUTO/ZONE. If path optimizing is chosen, corner zones will automatically be installed and
if speed optimizing is chosen, zero zones will be installed .

Note! Remember to install the optimizing principle under MANUAIJPARAM/CHANGE/

AUTO/PATH before installing the zones, since they depend on the optimizing
principle.


Corner zones for path optimizing

zone _

A B
curved
path .C

When changing direction or passing a corner, the robot TCP follows a smooth curve which
starts at the incoming edge of a defined "zone" .

The next instruction starts to execute at the incoming edge of the zone .

The zone size corresponds to the defined size in mm (or inches) in rectangular coordinates .
In robot coordinates, measurements are made in increments, and the zone size is generally
somewhat smaller than the defined size .

There are two types of zone size definition :

Absolute Value - the zone size directly corresponds to the defined size (in rectangular
coordinates).

Velocity-dependent value - the zone size is proportional to the programmed TCP-velocity. At

1000 mm/sec the zone size corresponds to the defined size (in rectangular coordinates) .

De initon of zones

The system parameter ZONE is used to define the different available zones :

Guide textZone (mm) = If text "zone (in) =" appears, the values shown are in inches.

Definition Range FINE CORNER 1 CORNER 2 PATH

Absolute Value 2-100 mm 2-100 mm 2-100 mm 2-100 mm

Velocity-dependant -200 to -1 mm -200 to -1 mm -200 to -1 mm

Defaults Values (mm) +2 +15 -100 -25

INSTALLATION
5:13


Zero zones for speed optimizing

A. Zero zones for fine points

When positioning to fine points, the control system checks that each axis is within its zero
zone before the next movement is begun . This is done to achieve the positioning accuracy
required. This check is normally not performed when positioning to coarse points .

The size of the zero zone for the different types of fine points are stored as system -
parameters. The system works with zero zones in the form of monitor increments (a certain
rotation of the motor shaft in question) . Checking and changeing of the size of the zero
zones, is performed
in mm.

. Programmed position

® Small zero zone

Large zero zone

0 Extra large zero zone

The size of the zero zone expressed in mm is almost in agreement with the actual size under
the following conditions only :

- The movement is performed with maximum extended robot arm and with TCP 0 active.

This means that in most cases a smaller real zone is obtained than that expressed in mm .

Description
The system contains a parameter with a zero zone value for each type of fine point

Imo Parameter ,SiLnifcance

1 POS FINE SMALL Small zero zone

2 POS FINE L LARGE Large zero zzone
3 POS FINE XL EXLARGE Extra large zero zone

Menu
AUTO + ZONE + SMALL, LARGE or EXLARGE

Guide text
ZONE (AM _


Def.range
1- 300 mm
(But not less than the default value for a small zero zone)

Default value
Default values for zero zones for fine points

IBB 2000 IRB 3000 jRB 3200 IRB 6000

Small zero zone 1 mm 2 mm 2 mm 2 mm

Large zero zone 14 mm 10 mm 10 mm 10 mm
Extra large zero zone 50- 50 mm 50 mm 50 mm

Note
If the guide text ZONE (IN) = is shown, inches are used in reading in and reading-out (1
inch = 25 .4 mm).

B. Zero zone for coarse points

Description
Menu selection to define that the control system checks that each axis is with in a defined
zero zone before the next movement begins when positioning to coarse points . The coarse
point works just as a fine point in cases like this .

Menu
AUTO + ZONE + COARSE

Information text
PRESENT VALUE = NOT DEFINED
= No zero zone for coarse points

Menu selection
DEFINE = Define zero zones for coarse points
UNDEF = Undefine zero zone for coarse points
BREAK = No change required

Parameter
If zero zones are also defined for coarse points, the parameter gives the size of the zero zone.

Menu
Consequential question after DEFINE above .

Guide text
ZONE (MM) _

Def.range
See zero zones fine points, under A above .

Default value
Not defined.

Note
See zero zones fine points, under A above.

INSTALLATION
5:1 5


5.2.45A CIRCLE
The orientation of the tool along the circle path can be chosen in two different ways :

Method A The reorientation of the tool between the start point and end point will then
be performed as a twist in the base coordinate system . No consideration to
the orientation of the path is taken . An arc of up to 180° can be obtained from
three points. A larger arc can be obtained by building a second arc after the
first one.

Method B The reorientation of the tool between the start point and end point will then be
performed relative to the circle path . It is possible to reorientate the tool keeping
a constant orientation relative to the circle path. An arc of up to 360° can be
obtained from three points .

2 = CIRCLE POINT

00 -180° 1800 -360° 00 -3600

Method A Method B

Description
The orientation of the tool in relation to the circle path .

Menu
CIRCLE

Guide text
ORIENTATION TO CIRCLE=

Def. range
0 = The orientation of the tool is linear interpolated along the circle path.
1= The orientation of the tool is constant in relation to the circle path .

Default value
0 = The orientation of the tool is linear interpolated along the circle path .

5.2.4.5
CLINK, Robot identity computer link

Description
Menu selection to define that a computer link is connected to the control
system. The parameter is to be defined only if the computer link is physically
connected between the control system and superior computer, and if the
necessary software is installed in the superior computer .

INSTALLATION
&16


Menu CLINK

Information text

PRESENT VALUE = NOT DEFINIED

= Computer link not connected
PRESENT VALUE = DEFINIED
Computer link connected

Default value
Computer link not connected.

Menu selection
DEFINE= Computer link connected
UNDEF = Computer link not connecte
BREAK = No change required

Parameter
The parameter IRB IDENTITY is used to define the identity of the robot in
question in a system containing more than one robot connected to a superior
computer (host computer).

Guide text
IRB IDENTITY =

Menu
Resulting question after DEFINE above .

Def. range
Identity 0-127.

Default value
0=

5 .2 .4.7.1
LO TYPE

The figure below shows how the (optional) I/O boards can be placed in the rack :

Always max 6 I/Oboards

VO BOARD POSITIONS
6 5 .4 3 2 1

Analog, digital
or combined
Winchester board
board

Digital boards
RIO

INSTALLATION
5x1 7


• Recommended rules for configuration of board positions 1-6 :

1 . Place the first digital 1/0 board at board position L
2. If it is necessary to reserve digital inputs and outputs for system-1/O and/or panel
1/0, use the last digital 1/0 board (highest number on the board position) .
3 The analog or combined 1/0 board must be placed at board position 1 .
.
4 . Interface board for the Winchester is placed at board position 6 .
5. Place the RIO-board to the left of the last board in the rack .

• The following rules apply to logical numbering of digital and analog inputs and outputs
as referenced via the programming unit, monitor and program printout :

1 . Logical numbering is performed from right to left (board positions 1)

• defined and non-reserved digital inputs and outputs :
• 1 st digital 1/0 board counted from right to left in the control cabinet :
'Digital input 1-16 and digital output 1-16 .
• 2 nd digital I/O-board :
' Digital input 17-32 and digital output 17-32.
• Etc.
• If a digital or combined I/O board is defined as system 1/0 and/or panel I/O :
With definition as system LO or ESAB I/O, digital inputs 9-16 and digital outputs
9-16 on the board in question in the numerical sequence described above are not
included.
With definition as panel I/0, digital inputs 1-8 and digital outputs 1-8 on the
board in question in numerical sequence are not included .
The system simply jumps over the reserved physical inputs and outputs on
the board in question with the logical numbering from right to left in such a
way that the logical numbering has a consecutive number sequence 1, 2, 3 etc.

2. Logical numbering on the defined analog 1/0 board :

• Physical outputs 1-4 on the board are numbered logically as analog output
ports 21-24.
• Physical inputs 1-4 on the board are numbered logically as analog input
ports 31-34.

3 . Logical numbering on the defined combined I/O board :

• Physical outputs 1-2 on the board are numbered logically as analog output ports 21-22 .

4 . RIO-board DSQC 239 is placed physically in a position one number higher then defined
due to same double size of the board.

Description
The parameter boards 1/01 to 1/0 6 are used to define which are installed at
board positions.

Sub-menu
I/O TYPE

Guide text
1/01= Board position 1101
1/O 6 = Board position 1/0 6
etc .
Def. range
0 = No board at the board position in question.
8 = Digital input/output board DSQC 223
Equipped with maximum 6 boards.
12= Analog input/output board DSQC 209 .
Equipped with maximum 1 board .
20 Winchester interface board DSQC 227
Equipped with maximum 1 board
40 = Combined input/output board DSQC 224 .

INSTALLATION
& 18
 64= RIO-board DSQC 239
Equipped with maximum 1 board.

Default value
0 = No board at the board position question .

Sub menue
Valid only for RIO board DSQC 239
RIO CONFIG

Se chapter 5 .2.5 for further information of RIO - board DSQC 239.

5.24.7.2
DIGITAL INPUT and OUTPUT

Description
Menu for selection of physical input, logical input and output . (ROBOT DIG I/0)

Menu
DIG + INPUT or DIG + OUTPUT

Information text
PHYS .INPUT : - = IMP. -
If already defined PHYS .INP: 0101= INP 1/SYS OUTPUT .
SYS : A system or panel input is defined .
OUTP: An output is linked for the input .
Editing is performed by entering new values .

Default value
- = no output or input defined .

Parameter
Enter the selected board position and the channel number . Press enter and select
the desired input or output for each I/O required.

Guide text
BOARD POSITION=
CHANNEL NO

Definition range
PHYS.OUTP and PHYS.INP 01 .01 to 8 .16, OUTPUT and INPUT 1 to 190 .
 5.2.4.7.3
SYSTEM and PANEL input and output

Description
Menu to define system and panel inputs and outputs

Menu
SYSTEM + INPUT/OUTPUT or PANEL + INPUT/OUTPUT

Information text
SYSTEM INPUT SYSTEM OUTPUT
HOLD: - HOLD ACKNOWLEDGE :-
EXTERNAL HOLD: - ERROR IN AUTO: -
HOLD RESET: - SYSTEM AUTO: -
INT. INSTR TEST MODE: -
INT. FROG. : - GRIPPER 1: -
CALL PROG 1, 2,3,4,5 : - GRIPPER 2: -
EXTERNAL HOLD RESET: - MOTOR ON: -
SYSTEM AUTO INPUT: - CYCLE ON: -
AW RESTART : - CYCLE ERROR: -
MOVE RESTART:- SEARCH STOP : -

PANEL INPUT PANEL OUTPUT

MOTOR ON: - MOTOR ON LAMP: -
MOTOR OFF : - MOTOR OFF LAMP : -
FROM DISC : - ERROR LAMP: -
SYNC : - FROM DISC: -
PROG START: - SYNC LAMP: -
PROG STOP: - PROG START LAMP: -
KEY SWITCH : - EMERGENCY STOP LAMP : -
LAMPTEST: - PROG STOP LAMP: -

If an input/output is already defined it will be shown like HOLD : 0112, were 01 is the board
position and 12 is the channel number in this example .
ENTER without value will not change anything .

5.2.4.7.4
LINK LO

Description
Menu to define physical inputs to be linked to physical outputs . The inputs must
be defined as SYSTEM, PANEL or DIGITAL inputs before you can enter a link.

Menu
LO MAP + SCAN + LINK I/O
CLEAR LINKED LO TAB? YES/NO

Information text
PHYS.INP : - = PHYS . OUTP : -

Guide text
BOARD PLACE=
CHANNEL NUMBER=

Derange
It is possible to link 16 in- and outputs .

INSTALLATION 83


Note! The guide texts are showing up only if the link is undefined . To change an
already defined link, all linked I/O :s must be cleared and then defined again .

52.4.8
PRINTER

Description
Menu selection for defining that a printer is connected to the system . The printer can
be used for program and error code printouts . In arc welding systems, the printer can
also be used for welding data printout .

Menu
IN/OUT + PRINTER

Information text
PRESENT VALUE = NOT DEFINED
= No printer connected

PRESENT VALUE = DEFINED

= Printer connected

Default value
No printer connected

Menu selection
DEFINE= printer connected
UNDEF = no printer connected
BREAK = no change required

Parameter
If a printer is connected to the control system, the parameter BAUD RATE is used
to determine the data transmission speed for printer printout .

Guide text
BAUD RATE = Def range
300 = Transmission speed 300 Baud (bit/second) .
1200 = Transmission speed 1200 Baud.

Default value
300 = Transmission speed 300 Baud .

52.4.9
MONITOR (display screen)

Description
The parameter MONITOR BOARD is used to define the function readout on the
monitor display screen of program and error code buffer . The control system must
be equipped with a monitor (option) before activation of this parameter.

Menu
IN/OUT + MONITOR

Def. range
0 = No readout on monitor display screen .
1 = if LCD-screen is used.
2 = if CRT-screen is used .

Default value
0 = No readout on monitor display screen .

INSTALLATION
 5.2.4.10
SYS (Reservation system LO)

Description
Menu selection to define if digital inputs 9-16 and digital outputs 9-16 on a digital
110 board are to be reserved for use as system 1/0 .

Sub-menu
IN/OUT + I/0 USE + SYS

Information text
PRESENT VALUE = NOT DEFINED
System 1/0 not reserved.

PRESENT VALUE =DEFINED

= System I/O reserved.

Default value
System-I/O not reserved .

Menu selection
DEFINE= Reserve system LO .
UNDEF = No system LO reserved .
BREAK = No change required .

Parameter
If system I/0 is reserved, the parameter BOARD POSITION is used to
define the board position where digital inputs 9-16 and digital outputs 9-16 are
reserved as system L0.

Menu
The resulting question after DEFINE above .

Guide text
BOARD POSITION =

Def. range
1-6 corresponding to board place 1-6.
Note: It is recommended to reserve system I/O on the last I/O board, and to define the
same I/O board for panel I/O board for panel I/O, if used .

Default value
No board place is defined.

52.4.10A
ESAB- UO

Description
Menu selection to define if digital inputs 9-16 and digital outputs 9-16 on digital
LO board 3 are to be reserved for use as ESAB I/O .
Sub-menu
IN/OUT + I/O USE + ESAB

Information text
PRESENT VALUE = NOT DEFINED
= ESAB LO not reserved.

PRESENT VALUE =DEFINED

= ESAB I/O reserved.

INSTALLATION
 Default value
ESAB-I/O not reserved.

Menu selection
DEFINE= Reserve ESAB U0 .
UNDEF = No ESAB 1/0 reserved.
BREAK = No change required.

Parameter
If ESAB I/O is reserved, BOARD POSITION 3 is used where digital inputs 9-16
and digital outputs 9-16 are reserved as ESAB LO.

Note
See also section 3.10.5

Guide text
BOARD POSITION =

5.2.4.11
PANEL, Reservation panel LO

Description
Menu selection is defined if digitla inputs 1-8 and digital outputs 1-8 or a digital
LO board in the control cabinet are to be reserved for use as panel U0 .

Menu
IN/OUT + 110 USE + PANEL

Information text
PRESENT VALUE = NOT DEFINED
= Panel 1/0 not reserved .

PRESENT VALUE = DEFINED

= Panel I/O reserved.

Default value
Panel I/O not reserved .

Menu selection
DEFINE= Reserve panel LO
UNDEF = No panel I/O reserved
BREAK = No change required .

Parameter
If panel 110 is reserved, the parameter BOARD POSITION is used to define which
board position 1-6 that is reserved for panel U0 .

Menu
Resulting question after DEFINE above.

Guide text
BOARD POSITION =

Def. range
1-6 corresponding to board position 1-6.
Note : It is recommended to reserve panel UO on the last LO board, and to define
the same 1/0 board for system LO, if used .

INSTALLATION S3
Default value
No board position reserved.

5.2.4 .12
ROBOT, working range

Description
The parameters Al - to A6+ are used to provide software limits to the working ranges
of the robot axes 1 to 6 in both movement directions . The working range is defined
as the angle, in degrees, from which the axis can be run in positive or negative
directions from the normal calibration position (synchronization postion) .

Menu
AXIS + ROBOT

Guide text
Al- = Negative direction axis 1
A1+=
C

A6- _
A6+ = Positive direction axis 6

Def. range
1. The angle is to be specified in whole degrees and with sign .
2 . Max . and min . value for the parameters Al- to A6+ must be within the working
range marked in the figure below.
Default value
The default values are shown in the figures below:


MAIN AXES
Axis 1 limits :
A1+ +179 .9° 1)
Al- -179.90 1)
1) Program unit shows 180°

Axis 2 limits:
0 A2+ IRB 2000 +100°
IRB 3000 +90°
IRB 3200 +90°
IRB 6000 +70°
IRB 6000/S3 .0-100 +140°
A2- IRB 2000 -1100
I, :
8 1°O
-10
IRB 6000 -70 0
IRB 60001S3 .0-100 +10°

Axis 3 limits:
A3+ IRB 2000 +160°
0 IRB 3000 +150°
IRB 3200 +15010
IRB 60600053.0-100 +155°
A3- IRB 2000 -1700
IRB 3000 -170°
-170o
0000 280
IRB 6000/S3 .0-100 +52°

*Value include axis 2

INSTALLATION ss


Wrist Axes
B - B
A B Sync pos ition
-
A4
A6 A4-
A4+
-2000
i +200° IRB 6000
IRB 6000 -300°
+3000 IRB 6000/2.25PE-75
IRB 6000 /2 .25PE-75 - 200°
+200°

Clockwise rotation Counter-clockwise

rotation

A - A

A6+ A6-
The sync position for axis 6 Is +300° -300°
defined by the position of the
guide hole . The guide hole Is to
be at 12 o'clock or at 6 o'clock
for a sus- pended robot

Clockwise rotation Counter-clockwise

rotation
5.24.13
AXIS 7-12, internal and external drives
MS/GIJSW

During axis definition it is possible to define axis 7 as internal or external. An internal axis
has an integrated drive unit on the control system where as an external axis has an external
drive unit . If axis 7 is defined as internal then independent movement of this axis is not
permitted.

AW
Any axes can be defined as internal, up to 6 axes can be defined, only one can be active . See
STATION chapter 5 .2A. 15.

External axes with external drive units demands that aaxis board, DSQC 233, is placed at
board position in rack (see f
ig. in chapter 3 .10).
For external axis 7 with internal drive unit demands a serial measurement board DSQC 253
placed in connection to the axis (track motion) .

Basic definition 1

Description
Menu selection to define whether the robot system includes an external axis 7 or not
,Menu
AXIS + AXIS 7

Information text
PRESENT VALUE = NOT DEFINED
= Axis 7 not defined in the control system .

PRESENT VALUE = DEFINED

Axis 7 defined in the control system .

INSTALLATION SS
&26
Default value
Axis 7 not defined in the control system .

Menu selection
DEFINE= Define axis 7 with its working range (see below)
UNDEF = Undefine axis 7
BREAK = No change required

Basic definition 2

Description
Menu selection to define whether or not the robot system is equipped with the
external axes 8-12 .

Menu
AXIS + EXTAX + A8 ....12
(X stands for the required axis concerned)

Information text
PRESENT VALUE = NOT DEFINED
= The axis in question is not defined in the control system .

PRESENT VALUE = DEFINED

= The axis in question is defined in the control system .

Default value
The axis in question is not defined in the control system.

Menu selection
DEFINE= Define the aids in question
UNDEF = Undefine the axis in question
BREAK = No change is required

Working area, axes 7-12

Description
Menu selection to define whether or not the axis in question has defined working
area Normally is a working range definined for external axes . For rotating axes
that are used as external axis the parameter be undefinined .

Menu
AXIS + EXTAX + AX or AXIS+AXIS 7
(X in AX is the number of the axis in question)

Info text
PRESENT VALUE = DEFINED
The axis in question has a working area defined .

PRESENT VALUE = NOT DEFINED

= The axis in question has no working area defined.

Default value
The axis in question has a working area defined.

Menu selection
DEFINE = Define the working area in question .
UNDEF = Undefine the working area in question
Parameter I and II
The parameters AX- and AX+ (X being the number of the axis concerned) are used to
program a limitation of the working range of one of the external axes 7-12 in both of its
directions of movement. The working range is defined as the number of motor increments (1
motor revolution = 1024 increments) which the axis can run in a positive or negative
direction from the synchronization position .

Menu
Resulting question from DEFINE above .

Guide text
AX- = Working range negative direction
AX+= Working range positive direction
(X is the number of the axis in question)

Def. range
Max. numerical value of motor increments entered, 2147483640
Min . numerical value of motor increments, 0
The numerical value must be given with a sign (minus sign for axis AX- and no
sign for AX+)
 Default value
Working range not defined

Note
1. The synchronization position for the different axes must be within the working
range for the axis concerned.
2. If, it is not possible to create a correct working range with the parameter values
this sequence can not be concluded and the system will request parameter I again .

Position regulator, axes 7-12

Parameter III
The parameter KP specifies the gain in the position regulator. The gain must be set
in relation to each mechanical unit. This can be performed with the help of function
TRIM under the MANUAL menu. See further in chapter 6. If a suitable value
obtained when trimming is to be permanent in the system, the value must be read in
here as the system parameter HP .

Menu
Resulting question after reading in as described above.

Guide text
EP =

Def. range
0.0 -127 .0 in SI-unit: Per second (1/s)

Default value
The gain is undefined.

Note
1. Values of the gain which can be used in practice are of the order of 5 for
high inertia to 20 for low inertia mechanical units.
2. With ENTER without data and undefined gain, the sequence cannot be left and
the system restarts with parameter III .

Motor speed, axes 7-12

Parameter IV
The parameter MSPEED (RPM) = gives the maximum speed for the motor of the
external axis. (For gear ratio 1:1 between resolver and motor).

Menu
Resulting question after reading in in accordance with the above.

Guide text
MSPEED (RPM) _

Def. range
74 - 3000 rpm

Default value
Internal drive unit = 1050 rpm
External drive unit = 3000 rpm

Note
1. A.C . motor for an internal axis has a maximum speed of
2600 . (Automatically adjusted to 2600 rpm if entering higher value .)

2. The speed reference from the controller can reach a value of about 6 % above
the defined value . The motors should therefore be capable of speeds up to
10 % over the above maximum speeds .

INSTALLATION
529
 Test speed, axes 7 - 12

Parameter V
The parameter TEST SPEED (%) =, gives the maximum speed for the motor of the
external axis in percent of parameter IV, MSPEED (RPM) .

Menu
Resulting question after reading in, in accordance with the above.

Guide text
TEST SPEED

Def.range
1,0-25,0%

Default value
Axis 7-12 = 10,0 %

Note
Test Speed means the maximum speed for the motors (1) during manual movement of
the robot with joystick and (2) during program execution in operation mode TEACH .

Control from internal or external drive unit

Parameter VI,
MH/GLISW axis 7 only
AWaxes 7-12 .

Parameter (AXIS 7 INTERNAL) defines whether axis 7 is controlled from an

internal or external drive unit.

One additional (optional) ac . motor can be controlled by the control system in

addition to the 6 robot axes . The ac. control is activated by selecting axis 7 as an
internal axis. This can be used for example for a travel motion .

Even when defining the axes 8-12 the question whether the axis is to be internal
comes up.
Menu
Resulting question after reading in in accordance with 5 .2.4.13 for axis 7.

Guide text
AXIS 7 INTERNAL =

Def. range
0 = Axis 7 with control from external drive unit .
1 = Axis 7 with control from internal drive unit.

Default value
0 = Axis 7 with control from external drive unit .

Note
When defining axis 7 with control from an internal drive unit, the standard drive unit
DSQC 236 C (IRB 2000/3000/3200) or DSQC 236 T (IRB 6000) must be installed
and that serial measurement board is used .

INSTALLATION
5:30
 Internal drive unit

If axis 7 is selected with control from an internal drive unit, the digital speed
control is activated in addition to the a.c . control . This must be trimmed in
relation to the mechanical unit using the TRIM function . See further chapter 6. If
the values obtained are suitable and are to become permanent in the system, the
value can be read in here as system parameters .

A short description of the PID controller system parameters follows .

Parameter VII, Internal drive unit, axis 7

Proportional gain (P-part) .

Menu
Resulting question after definition of axis 7 with control from internal drive unit.

Guide text
P GAIN (TIMES) _

Def. range
0.0 - 127 .0 times

Default value
17 times for IRB 2000 Track Motion
16 times for IRB 3000 Track Motion
17 times for IRB 6000 Track Motion
Note
Values practically usable, approx . 5 for low inertia to 25 for high inertia.mechanical
units .

Parameter VIII, Internal drive unit, axis 7

Integration time (I-part).

Menu
. Resulting question according to the above .

Guide text
I TIME (S) _

Deff range
0.000 - 2.500 sec

Default value
0.25 sec for IRB 2000
0.5 sec for IRB 3000
X sec for IRB 6000
Note
Values practically usable, approx. 0 .2 - 0.4 secs . The shorter time, the faster the
integration.

Parameter IX, Internal drive unit, axis 7

Number of poles

Menu
Resulting question according to the above .

Guide text
Motor poles =

INSTALLATION S3
5:31


Def. range
4 or 6

Default value
6

Note

Parameter X, Internal drive unit axis 7

Max allowed motor torque

Menu Resulting question according to the above .

Guide text
Torque max . (%) _

Def. range
0-100%

Default value
IRB 6000 70%
IRB 2000, 3000 92%

Note

Parameter XI
Drive unit
Selecting type of drive unit for the internal axis 7

Menu
Resulting question of drive unit for the internal axis 7

Guid text
DRIVE UNIT =
Selected type of drive unit from the meny

Default value
IRB 6000 T = Drive unit
IRB 2000, 3000 C = Drive unit

Type of motion, axes 7-12 .

Description
Menu selection to define if an independent external axis controls a linear movement
or a rotating movement.

Menu
Resulting question from definition of external axis with external drive unit .

Guide text
TYPE OF MOTION?

Def. range
ROT or LIN

Default value
LINEAR

INSTALLATION 83
5:32


Gear ratio, axes 7-12

Description
The parameters XII and XIII define the gear ratio between the motor and the
external axes in question.

Menu
Resulting question from definition of external axis which has been defined as
independent external axis .

Guide text
LOW GEAR RATIO = (parameter XII)
HIGH GEAR RATIO = (parameter XIII)
Deft range
1-5000, resolution 1

Default value
Low gear ratio = 1
High gear ratio = 1

Note
The quotient between low and high transmission parameter must give a finite
numbers of decimals. It will results in error in the calculation algorithm .

Ex. Low/ High = V3 = 0 .333 not working

Low/ High = L8 = 0 .125 working

Velocity reference axes 7-12

Parameter XIV External drive unit axis 7-12 .

Specifies which voltage level of the speed reference to the motor for the external axis
concerned, should correspond to the specified maximum speed .

Menu
Final question for axes 7-12 with external drive unit.

Guide text
MSREF (V) _

Deff range
0.0 - 9.4 V. NOTE! The speed reference voltage has a 12 bit resolution. With a
specified 9 .4 Voltage level, a disturbance on the least significant
bit will result in a fluctuation in the speed reference . The
amplitude of the fluctuation will be appox. 5 mV. One should be
aware of this, especially in applications with low transmission gear
ratios.
Default value
9.4 V. (Do not enter a higher value than 9 .4 V)

INSTALLATION sa
5 :33
 5.2.4.14
BRAD

Description
The parameters Al to A12 are used to define whether the system robot axes and
external axes are equipped with mechanical brakes or not. The control system uses
the parameters to determine if the servo control should be deactivated or not when
BRAKE ON are activated .

Menu
AXIS + BRAKE

Guide text
Al = Robot axis 1

A6 = Robot axis 6
A7 = External axis 7

A12 = External axis

Def. range
0 = The axis concerned has no brake .
1 = The axis concerned is equipped with a brake .
Default value
Al - A6 = 1 Axis brake.
A7-A12= 0 No axis brake.

Warning
It is important that the system parameters for brakes are defined so that they
correspond to the actual brake equipment on the different axis . With incorrect
definitions, the following can happen when BRAKE ON is commanded in the
system after a time in the MOTOR ON mode with an inactive robot:
If an axis without brake is defined with a brake (=1), the robot can collapse
because the servo control is deactivated when the brakes are to be applied
If an axis with a brake is defined without a brake (= 0), the robot will go to
MOTOR OFF with a jam error because power is applied to the motor despite
the application of the brake.

Note for external axes 8-12 and external axis 7 with external drive unit: When
application of the brake is commanded, a common brake signal, EXT BRAKE
CONTROL connected to external axes with brakes is activated . This signal must
also be used to block the servo of the external axes to prevent the speed controller
from integrating up to the current limit . To avoid dipping when brakes are
applied, a time delay relay should be used on the signal to block the servo .

INSTALIATION
5:34


5.24.15
STATION (AW only)

Sharing of external axes on stations.

Description
The parameter area STATION is used to distribute the external axes to the
stations to permit activation of the external axes in suitable groups. The stations
can be activated/deactivated independently except when axes share a common
drive unit. Six stations are available ; A, B, C, D, E and F .

Note One axis can not belong to more than one station .

Menu
AXES + EXTAX + STATION

Information text
A NOT DEFINED
station A is not defined
A* : INP11 OUTP1 AXES :? 12 ->
= station A consists of the axes 7 and 12, activated with output 1 and that the
activation is acknowledged at input 11. The asterisk indicates that the station is
to be synchronized separately from other asterisk-marked stations . The arrow
indicates that several stations are defined .

Note
All stations are normally undefined . Station A must be defined first before any other
station can be defined.
The asterisk-marked stations are synchronized in a sequence beginning from the last
and the first is synchronized together with those not marked . After the
synchronization, all of the stations are deactivated except A .

Menu selection
DEF = define or change station
ODEF = erase station
NEXT = show next station
BREAK= interrupt presentation/change of station

INPUT
The input which is to be used to give an acknowledgement that the station in
question is activated is specific here .

Menu
The first question after DEF above .

Guide text
INPUT No =

Permitted values
The following inputs are permitted : 11, 12, 13, 14, 15 and 16 . If the station is
undefined, a value must be specified .

OUTPUT
The output which is to be used with activation/deactivation of the station in question
is specified here.

Menu
Second question after DEF above .
 Guide text
OUTPUT No =

Permitted values
Outputs between 1 and 128 can be used. If output number 0 is presented, a value
must be specified .

AXES
The external axes which are to belong to the station in question are specified here .

Menu
Continued question after DEF above .

Guide text
AXIS No =

Permitted values
The external axes 7, 8, 9, 10, 11 and 12 are permitted.

Note
The request for the axis number is repeated until answered without specification of
an axis number. When the request for the first axis number is received, that which
was entered previously can be provided by responding without specifying a number.
It is also possible to begin again and enter new axis numbers. At least one axis must
be specified and a maximum of six can be specified .

SHARED DRIVE UNITS

Finally it is specified if the station is to be synchronized separately from another
station. E .g. if axis from different stations share the same drive unit .

Menu
The last question after DEF above

Guide text
COMMON DRIVE UNIT ?

Permitted values
YES or NO . YES is marked with an asterisk at the beginning of the information
text, which then specifies that the station is to be synchronized separately from
other asterisk-marked stations .

INSTALLATION ss
5:38
 5.2.4.16
GRIPPER

Description
The parameter GRIPPER specifies the number of grippers in the robot system, and
the digital outputs that are to be reserved for connection of grippers 3-8.

Parameter I
The parameter specifies the number of grippers in the robot system .

Menu
GRIPPER

Info text
PRESENT VALUE =

Guide text
NO OF GRIPPERS =

Def. range
3-8 grippers

Default value
2 grippers

Parameter II
The parameter specifies the logical digital output which gripper 3 is to be
connected to.

Menu
Resulting question.

Info text
PRESENT VALUE

Guide text
OUTPUT NO (GRIPPER 3) _

Def. range
Logical digital output 1-128.

Default value
Logical digital output 9.

Note
When 4-8 grippers are specified under "Parameter r above, the control system will
automa++cnlly reserve the number of logical digital outputs required, wit the
consequent numbers higher than the output specified under "Parameter H" .

INSTALLATION
5:37


5?»4.17
ARM
The parameters in accordance with the sections below are used to obtain the maximum
performance of the robot, in regards to maximum acceleration and deceleration . These
parameters affect the control of the servo regulation .

Equipment at the upper arm

The following parameters are used to define the equipment fixed to the upper arm of
the robot with respect to weight and position of the centre of gravity. In cases with
several masses the position and sizes of the joint centre of gravity must be calculated .

Parameter I
The parameter indicates the weight of the equipment concerned .

Menu
LOAD + ARM

Guide text
MASS (KG) _

Deff range
IRB2000 IRB3000 IRB3200 IRB 6000
0-15 kg 0-15 kg 0-15 kg 24120 155 kg
2.4-150 185 kg
2.8-100 135 kg
3.0-75 95 kg
S3.0-100 135 kg
225PE-75 110 kg
28PT 135 kg
Default value
IRB 2000 IRB 3000 III,B 3200 IRB 6000
0kg 0kg 0kg 0kg

Permitted values
IRB2000 IBB3000 IRB3200 MB 6000
0-5 kg 0-15 kg 0-10 kg Acc. to def. range .
See Description chapter
5.1.7 for
limitation .
Parameter II
The parameter specifies the distance from the axis of rotation between the lower and
upper arm to the centre of gravity of the equipment measured parallel with the upper arm .
Shown as X in the figure above .


Parameter II
The parameter specifies the distance from the axis of rotation between the lower and
upper arm to the centre of gravity of the equipment measured parallel with the upper
arm. Shown as X in the figure above .

Menu
Resulting question

Guide text
X (MM) _

Def. range
IRB 2000 IRB 3000, IRB 3200 IRB 6000
- 380 to + 850 mm- 450to1+500 mm 2.4-120 -400 to +1000
2.4-150 -400 to +1000
2.8-100,2 .8PT-400 to+1410
3.0-75 -400 to +1610
S3.0-100 -400 to +1410
2.25PE-75 -400 to +1000

Default value
IRB 2000 MB 3000, IRB 3200 MB 6000
0 0 0

Permitted value
IRB 2000 MB 3000, IRE 3200 MB 6000
-315 to ±0 - 450 to + 500 Acc to deff range

Note
If the guide text X (INCH) = is shown, inches are used in reading-in and reading-out
(1 inch = 25 .4 mm). See the manual Description concerning permitted position of
extra load.

Parameter III
The parameter specifies the distance from the centre joint between the lower arm
and the upper arm to the centre of gravity of the equipment (perpendicular to the
upper arm). shown as Z in the figure above .

Menu Resulting and final question.

Guide text Z MM =

Def. range
IRB 2000 MB 3000,M 3200 IRE 6000
-310 to +310 mm -150 to +450 mm -150 till +450 mm
(-12 to +12 inch) (-6 to +18 inch) (-6 to +18 inch)

Default value
IRB 2000 IRB 3000„IRB 3200 IRB 6000
0 0 0

Permitted value
IM 2000 IRB 3000,IRB 3200 IRB 6000
-100 till +310 -150 till +450 -200 till +450

Note
If the guide text Z (INCH) =) is shown, inches are used in reading in and reading out
(1 inch = 25 .4 mm) . See also manual Description concerning permitted position of
extra load .

INSTALLATION
5:39


52.4.18
WRIST

Description
The parameters in the section below are used to obtain the maximum performance of
the robot, especially concerning maximum acceleration and deceleration . These
parameters affect the control of the servo regulation . The default values are such that
they correspond to the working conditions of a heavily loaded robot . To avoid
overloading the robot, the distances and the corresponding maximum loads given in
the load diagrams must not be exceeded. The load diagram are given in the
description of the robot .

The parameter below is used to define the load fixed at the robot wrist (axis 6) with respect
to its weight and the position of its centre of gravity . In other words, the nature of the
normal load .

Parameter I
The parameter specifies the weight of the load .

Menu LOAD + WRIST

Guide text MASS (KG) =

Def. range
IRB 2000 IRB 3000 IRB 3200 IRB 6000
0-10 kg 0-30 kg 0-10 kg 2.4-120 0-120kg
2.4-150 0-150 kg
28-100PT 0-100 kg
3 .0-75 0-75kg
S3.0-100 0-100 kg
2.25 PE-75 50-75 kg
Default value
MB 2000 IRB 3000 IRB 3200 MB 6M
10 kg 30 kg 10 kg 2.4-100 100 kg
2.4150 150 kg
2.8-10OPT 100 kg
3.0-75 75 kg
S3.0-100 100 kg
2.25PE-75 75 kg

Permitted value
According to load diagram chapter 5 in Description

Parameter II
The parameter specifies the distance from TCP 0 to the load centre of gravity with
designation X in accordance with the figure above .

Menu
Resulting and final question .

Guide text
X (MM) =

INSTALLATION S3
5 :40
 Def. range
IRB 2000 MB 3000 IRB 3200 IRB 6000
0 - 430 mm 0 - 650 mm 0 - 430 mm 0-650 mm
(0 - 18 inch) (0 - 25 inch) (0 - 18 inch) (0-25 inch)

Default value
IRB 2000 IRB 3000 IRB 3200 IRB 6000
+84 mm +230 mm +84 mm +270 mm
2.4-150 +370 mm

Note
If the guide text X (INCH) = is shown, inches are used in reading in and reading-out
(1 inch = 25.4 mm).

5.2.4.19
HOLD RC

Description
Control Hold-to run
Active parameter (=1) means that in theone off, the following function buttons must
be kept depressed for execution . When the buttons is released, the robot stops .

PROG ST
INST
BWD
ALIGN (MH/GIJSW)
SYNC
EXTALIGN (AW)

VARNING! Hold- to-run should always be active to avoid injury. If not active the
robot does not stop at release of above buttons .

SAFETY + HOLD RC

Info text
PRESENT VALUE = 1
= Hold-to-run is active

Def.range
0 = Hold-to-run is active in MANUAL FULL SPEED only
1= Hold-to-run is active in both MANUAL REDUCED SPEED and MANUAL
FULL SPEED

Default value
1

INSTALLATION
5:41
 5.2.4.19A
EM-STOP (Emergency stop)

Description
The parameter DIG.OUTPUT RESET states if the general digital outputs should
be set to zero at emergency stop . The outputs are restored to its former condition
when the emergency stop is reset and the system is taken in operation mode
again or if the stand by button is pressed .

Menu
SAFETY + EM-STOP

Info text
PRESENT VALUE = 0
Parameter is passive

Guide text
DIG. OUTPUT RESET=

Def range
0 = Emergency stop have no influence on the outputs
1=Outputs will be reset at emergency stop .

Default value
0

Warning!

If the parameter DIG.OUTPUT RESET is set to 1:

It is very important that the peripheral equipment is adapted to that all outputs
are resetat emergency stop and automatically restored to its former condition
when the emergency stop is reset .

5.24.19B
AUTOC (AUTO control)

Under this menufunctions in AUTO mode can be blocked. When a function is

choosen to be not permitted and a corresponding key is pressed, the following
fault statement is shown on the display "14 AUTO MODE/IACKED
COMMAND". The functions are available as sub-menus to menu AUTOC and are
the following.

INSTALLATION
.5.-42
5.2 .4 .19B.1
EDIT

Description
The EDIT parameter exists for blocking of all editing functions under the
EDITING button in AUTO . In MANUAL mode editing operates, as previously,
irrespective of whether blocking has occurred .

Menu
SAFETY + SCAN + AUTOC + EDIT

Info text
FUNCTION IN AUTO =

Def.range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Default value
UNBLOCKED

5.2.4.19B.2
HAND
Description
The HAND parameter exists for blocking of manual functions under the
MANUAL button in AUTO mode . In MANUAL mode HAND operates, as
previously, irrespective of whether blocking has taken place .

Menu
SAFETY + SCAN + AUTOC + HAND
Info . text
FUNCTION IN AUTO =
Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode
Basic state
UNBLOCKED


5 .2.4.19B.3
GRIPPER

Description
The GRIPPER parameter exists for blocking of the gripper buttons on the
programming unit in AUTO mode . In MANUAL mode, the GRIPPER buttons
operate, as previously, irrespective of whether blocking has taken place .

Menu
SAFETY + SCAN + AUTOC + GRIPPER

Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED

5.2 .419BA
PROCESS ORIDE

Description
The ORIDE parameter, under the AUTOC menu, exists for blocking of the ORIDE
function in AUTO mode . When the parameter is blocked, it is not possible to use the
ORIDE function in a glueing instruction or in a welding instruction in
AUTO mode. In MANUAL mode the ORIDE function, as
previously, operates irrespective of whether blocking has taken place.
Menu
SAFETY + SCAN + AUTOC + ORIDE
Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
BLOCKED
5.2.4.19B5
SPEED

Description
The SPEED parameter, under the AUTOC menu, exists for blocking of the SPEED
correction in AUTO mode. The speed is altered using the two buttons "+%" and "-%" on
the programming unit . When the parameter is blocked, it is not possible to use the speed
correction in automatic state . In MANUAL mode, speed correction function, as
previously, operates irrespective of whether blocking has taken place .
Menu
SAFETY + SCAN + AUTOC +SPEED

Info . text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
BLOCKED

INSTALLATION
5 :44
5.2.4.19B.6
STOP

Description
The STOP parameter, under the AUTOC menu, exists for blocking of the program stop
button on the programming unit in AUTO mode . When the parameter is
blocked, it is not possible to use the key for program stop in AUTO mode .
In MANUAL mode, the stop function operates, as previously, irrespective of
whether blocking has taken place.

Menu
SAFETY + SCAN + AUTOC + STOP

Info . text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
BLOCKED
5.2 4.19B.7
RESET

Description
The RESET parameter exists for blocking of the RESET function under MANUAL in
automatic operating mode . In manual operating mode the RESET function operates, as
previously, irrespective of whether blocking has taken place .
Menu
SAFETY + SCAN + AUTOC + RESET

Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode
Basic state
UNBLOCKED
5.2 .4.19B.8
FROG ST
Description
The PROG ST parameter exists for blocking of the PROG ST function and AW REST in the
welding system under the AUTO menu in AUTO mode . In MANUAL mode,
the PROG ST and AW REST function operates, as previously, irrespective of whether
blocking has taken place .
Menu
SAFETY + SCAN + AUTOC +PROG ST

Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED
5 .2 .4 .19B .9
INS ST

Description
The INS ST parameter exists for blocking of the INS ST function under AUTO in
AUTO mode . In MANUAL mode, the INS ST 1 function operates, as
previously, irrespective of whether blocking has taken place .

Menu
SAFETY + SCAN + AUTOC + INS ST

Info . text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED
5.2.4.19B10
BWD

Description
The BWD parameter exists for blocking of the BWD function under AUTO in
AUTO mode . In MANUAL mode, the BWD function operates, as previously, irrespective of
whether blocking has taken place .
Menu
SAFETY + SCAN + AUTOC + BWD
Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED

5 .24.19B11
DISPL
Description
The DISPL parameter exists for blocking of the DISPL function under AUTO in
AUTO mode and in program running. In MANUAL mode, the DISPL function operates, as
previously, irrespective of whether blocking has taken place .

Menu
SAFETY + SCAN + AUTOC + DISPL
Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED

INSTALLATION
5 :16
5.2.4.19B.12
SYNC

Description
The SYNC parameter exists for blocking of the RE SYNC function under the AUTO menu
and the function SYNC in AUTO mode . In MANUAL mode, the RESYNC and SYNC
functions operate, as previously, irrespective of whether blocking has taken place .
Menu
SAFETY + SCAN + AUTOC + SYNC

Info . text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED

5.24.19B.13
SThf

Description
The SIM parameter exists for blocking of the SIM function under AUTO in AUTO
mode and in program running . In MANUAL mode, the SIM function
operates, as previously, irrespective of whether blocking has taken place .

Menu
SAFETY + SCAN + AUTOC + SIM

Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED
5.2 4 .19B.14
MOVEREST
Description
The MOVEREST parameter exists for blocking of the MOVEREST function under AUTO
in AUTO mode and in program running. In MANUAL mode, the MOVEREST function
operates, as previously, irrespective of whether blocking has taken place .

Menu
SAFETY + SCAN + AUTOC + MOVEREST
Info. text
FUNCTION IN AUTO =

Definition range
BLOCKED = The function cannot be performed in AUTO mode
UNBLOCKED = The function can be performed in AUTO mode

Basic state
UNBLOCKED

INSTALLATION
5 :47


5.2.4.20
GLUE

Description
Define the function package which is to be used by the robot system .

Menu
OPTION

Guide text
GLUE _
Def. range
0 = The software is not used .
1 = The software is used .

Default value
GLUE-_0

5.2.4.21
MODPOS

Description
The operator is asked if the position should be modefied or not .

Menu
MODPOS

Default value
Not defined

5.2.4.22
RP MODE

Description
The parameter RP MODE specifies the working mode of the instruction STORE
POSITION in the IRB 2000 AW software . Two different modes can be specified for position
storage :

Compensation for a parallel displacement, caused by an active

reference point, is made to the current robot position . If a reference
point is not active, the current robot position only is stored (def . = 0) .

The current robot position is always stored . Compensation for a parallel

displacement, caused by an active reference point, is not added to the position
(def. = 1) .

Menu
AUTO + RP MODE

Guide text
REFERENCE POINT MODE _

Def. range
0 = Storage of current robot position compensated for parallel displacement
caused by an active reference point .

1 = Storage of current robot position only .

Default value
0, storage of parallel displaced robot position if reference point is activated.

INSTALiATION
5 AS
5.2.423
AW REST

Description
The function AW REST facilitates restarting of the welding process after an
interruption . To make the welding seam as good as possible, the robot is moved to
an optional position which it had 0 - 0.45 seconds before the interruption . Then
the welding process is restarted with the same welding parameters as were used
before the interruption.

Menu
AUTO + AW REST

Guide text
AW RESTART TIME (s) _

Def range
0.00-0.45s

Default value
0.20s

Note
A restart attempt when it is not allowed will result in an error message :''TOT
ALLOWED COMMAND" at the programming unit.

5.2.423A
PATH (Motion optimizing)

It is possible to run the robot speed optimized or path optimized . The cycle time is normally
shorter with speed optimized than with path optimizing.

Note
Zone data under ZONE will be set to the default value if this parameter is
changed . Therefore remember to install the zone size again when the parameter
has been changed, if other values than the default value is required (see chapter
5.2.4.4).

Path optimizing will be installed if predefinition from PROM is used .

The system parameter for motion optimizing is installed as follows :

0 - Path optimized running

This is the default value when using predefinition from PROM . It is recommended to use
path optimized running, if nothing else is required . Normal corner zones will be installed
when path optimizing is installed . The motion will be stopped when changing from
ROBOT - to RECT-coordinates .

1- Velocity optimized running

Velocity optimized running gives a smoother velocity at the cost of the path quality . The
robot will have the same path performance as old robots, without the SPF-function . Normal
zero zone will be installed when velocity optimizing is installed . The motion is not stopped
when changing from ROBOT- to RECT-ccordinates.
5.2 .4.23B
CUR/ WIR (Arc welding software)

Description
Define CURRENT or WIRE SPEED to be used as welding parameters .
Menu
OPTION + CUR/ WIR
Guide text
CUR (0)/ WERE SP (1)
Def. range
0 = Current is used
1 = Wire speed is used
Default value
0, ie. current
Note
If the parameter is changed, it is necessary to activate the system parameters
before changing the corresponding output, (CURRENT or WIRE SP), see 5 .2.4.24 .

5.2.4.24
Application arc welding software

In arc welding applications, the welding voltage and welding current or wire speed are
specified within a welding data field and added as an argument to the program instruction
for the welding position .

The control system issues the relevant welding voltage as a voltage reference with definition
range ±10 V at an analog output port which in turn controls the current source of the
welding equipment. The definition range for the combined I/O is from 0 to +10V .

The control system also issues the relevant welding current/ wire speed as a reference with
definition range ±10 V at an analog output port which in turn controls the wire feed unit of
the welding epuipment . The definition range for the combined LO is from 0 to +10V .

The principle of the conversion in the control system of programmed welding current to current
reference in the form of reference voltage in volts is given by thefollowing
CWMW is we
Aeferenoe vatage
at output port (V)

Rat max (V)

Ref ni M PICVWIVI
cure
4 s (
.E
E E
E
a E
if d

Points to type and value

curve : of the parameters entered

The same principle applies for the conversion by the control system of programmed welding
voltage to a voltage reference in the form of a reference voltage in volts (PARAM MIN (A) is
however designated PARAM MIN (V) etc.).
 Port voltage reference
Description
The parameter VOLTAGE PORT defines which analog output port is to be used
as voltage reference.
Menu
VOLT + PORT
Guide text
VOLTAGE PORT =
Def. range
Port 21-23 (combined I/O : Port 21-22)

Default value
Port 21

Note
Port 24 can be defined but the system then issues ±20 mA instead of +/-10 V .
(Not valid for the combined I/O) .

Control of voltage reference

Parameter I
The parameter PARAM MIN (V) defines the minimum welding voltage .

Menu
VOLT + VALUE

Guide text
PARAM MIN (V)

Def. range
-30.0 - 100.0 V

Default value
0V

Parameter II
The parameter PARAM MAX (V) defines maximum welding voltage .

Menu
Resulting question .

Guide text
PARAM MAX (V) _

Def. range
-30.0 -100.0 V

Default value
100 V

Parameter III
The parameter REF MIN (V) defines the minimum voltage reference (reference
voltage in V).

Menu
Resulting question .

Guide text
REF MIN (V) _

INSTALLATION
5:51
Def. range
-10.0 to +10.0 V

Default value
0v

Parameter IV
The parameter REF MAX (V) defines the ma3dmum reference voltage (reference
voltage in V).

Menu
Resulting and final question .

Guide text
REF MAX (V)

Def. range
-10.0 to +10.0 V

Default value
0V

Note
If it is not possible to scale a permissible conversion curve with the parameter
values this sequence can not be concluded, and the system will request parameter
1 again. This can happen if the values entered lie outside the permitted values, or
if the Minimum value entered is higher then the Maximum value . The sequence
can always be concluded by entering the default values .
 Port for current reference

Description
The parameter CURRENT PORT defines which output port is to be used as current
reference.

Menu
CURE + PORT

Guide text
CURRENT PORT =

Def. range
Port 21-23 (Combined I/= : Port 21-22)

Default value
Port 22

Note
Port 24 can be defined but the system then issues +/- 20 mA instead of +/-10 V .
(Not valid for the combined 1/0) .

Control of current reference

Parameter I
The parameter PARAM MIN (A) defines the minimum current reference .

Menu
CURR + VALUE
Guide text
PARAM MIN (A) _

Def. range
0.0 - 1000.0 A

Default value
OA

Parameter II
The parameter PARAM MAX (A) defines the maximum current reference.

Menu
Resulting question.

Guide text
PARAM MAX (A) _

Def. range
0.0 - 1000.0 A

Default value
1000 A

Parameter III
The parameter REF MIN (V) defines the minimum current reference.

Menu
Resulting question .

Guide text
REF MIN (V) _

INSTALLATION
553
 i

Def. range
-10.0 to + 10.0 V

Default value
0V

Parameter IV
The parameter REF MAX (V) defines the maximum current reference .

Menu
Resulting and final question .

Guide text
REF MAX (V) _

Def. range
-10.0 to +10 .0 V

Default value
0V

Note
If it is not possible to scale a permissible conversion curve with the parameter
values this sequence can not be concluded, and the system will request parameter
I again . This can happen if the values entered lie outside the permitted values, or
if the minimum value entered is higher than the maximum value entered . The
sequence can always be concluded by entering the default values .

Port for wire speed reference

Description
The parameter WIRE SPEED PORT defines which output port is to be used as
wire speed reference .

Menu
WIRE SP + PORT

Guide text
WIRE SPEED PORT =

Def. range
Port 21- 23 (Combined U0 : Port 21- 22)

Default value
Port 22

Note
Port 24 can be defined but the system then issues +/- 20 mA instead of +/-10 V .

Control of wire speed reference

Parameter I
The parameter PARAM MIN (M/MIN) defines the minimum wire speed.

Menu
WIRE SP + VALUE

Guide text
PARAM MIN (M/ IIN)

INSTALLATION
554
 Def. range
0.0 - 50 .0 m/min (o - 1968 inch/min)

Default value
0 m/min

Parameter II
The parameter PARAM MAX (M/MIN) defines the maximum wire speed .

Menu
Resulting question

Guide text
PARAM MAX (M/MIN)

Def. range
0.0 - 50.0 m/min (0 - 1968 inch(min)

Default value
50.0 m/min

Parameter III
The parameter REF MIN (V) defines the minimum wire speed reference .

Menu
Resulting question.

Guide text
REF MIN (V)=

Def:f range
-10.0 - +10 .0 V

Default value
0v

Parameter IV
The parameter REF MAX (V) defines the maximum wire speed reference .

Menu
Resulting question .

Guide text
REF MAX (V)=

Def. range
-10 .0 - +10 .0 V

Default value
10.0 V

Note
If it is not possible to scale a permissible conversion curve with the parameter
values, this sequence can not be concluded, and the system will request parameter
I again . This can happen if the values entered lies outside the permitted values or
if the minimum value entered is higher than the maximum value. The sequence
can always be concluded by entering the default values .

INSTALLATION
555
 5.2»4.25
RESEQ

Parameter controlled renumbering

Description
The renumbering function parameter (RESEQ) is associated with an editing
instruction with the same name . The function parameter is initially set to the
value 1 which means that renumbering during editing is permitted . Renumbering
is not permitted when the parameter is set to the value 0 . If an attempt is then
made to use the function, the following error message is presented : "NOT
ALLOWED COMMAND" .

Menu
OPTION + RESEQ

Info text
PRESENT VALUE = 1

Guide text
RESEQUENCE ALLOWED =

Def range
0 = Renumbering during editing not allowed
1= Renumbering during editing allowed

Default value
1

5.2.4.26
SWEID (Spot Weld)

Description
The function parameter SWELD must be activated to get the weld function under
the P-button . The parameters SWELD and GLUE can not be activated at the
same time, because both uses the P-button . MH/ASM can be activated together
with SWELD or GLUE . See Programming Manual S3 (3HAB 0002-2),
chapter 12, for more detailed information .

Menu
OPTION + SCAN + SWELD

Info text
PRESENT VALUE = 0

Guide text
SWELD =

Def.range
0 = The weld instruction can not be programmed . Execution of earlier
programmed instructions are however permitted .
1= The weld instruction can be programmed with the P -button on the prog. unit.

Default value
0

INSTALLATION
.5:56
5.2 .4.27
SWI, (Spot Weld Interface)

Description
The parameter SWELD must be activated to get the SWI- function .

Menu
OPTION + SCAN + SWELD=1 + SWI

Info text
PRESENT VALUE = 0

Guide text
SWI =

Derange
0 = The SWI instruction cannot be programmed or executed.
1= Communication between robot and weld controller is performed via a
standard 1/O, DSQC 223 .

Default value
0

Menu
Resulting question after SWI=L

Guide text
Board position=

De£ range
The 1/0-board can be placed in a optional position and receives LO-number in the
ordinary way. The standard function with sub-programs for control of the welding
controller can be used even when the parameter SWI is activated .

5 .2.4.32
ROTAX (I1m/GL/SW)

Description
Active parameter (=1) means that an external axis, if it is defined as rotational,
can be programmed to rotate several revolutions in one instruction .
Menu
OPTION

Info text
ROTATIONAL AXIS =

Derange
0= parameter is passive
1= parameter is active

Defaultvalue
0


5 .2.5 Installation of RIO-board

TO DEFINE A RIO BOARD THE FOLLOWING STEPS SHOULD BE PERFORMED .

Understanding Terms of Allen Bradley .,rr

A remote L0-link is an serial communication link between an Allen Bradley PLCprocessor and
LO that are located remotely from the PLC processor

A remote LO-chassis is the hardware containing an (node) adapter (RIO-board) and UO

modules that are located remotely on a serial communication link to a PLC processor in .

A rack or the fraction of a rack is the amount of I/O data supported by an (node) adapter .

Physical location
The RIO-board should always be placed as the last I/O-board to the left of all other U0-boards .
The RIO-board is two slots wide. Note that the empty slot to the right of the RIO-board is
virtually the first group of 16116 I/O's of the RIO . Please refer to chapter 3.10.

Termination Resistors
If the robot' is the last unit on the RIO-link you must select and install a termination resis-tor .
The value is depend-ent on the communications speed and the devices connected to the RIO
cable. Please refer to Allen-Bradley documentation .

Entering of Function Parameters and Configuration of RIO

ISO-type
Define I/O-ype 64 for RIO-board DSQC 239 .

Select Rack size RIO CONFIG (Definition range 1/4=321/0, 2/4= 64110,3/4= 9610 or
4/4=128110).
This information is given by the PLC controls programmer . You can assign a RIO-board firm a
"fraction of rack (2/4)' to a 'singel rack (4/4)" . The marimum rack size depends on the quantity of
digital I/O boards installed in the robot . See summary belowe.

Define the RIO-bard parameters:

Rack address RADR (Definition range decimal 0-63) .
This information is given by the PLC controls programmer . The Allen-Bradley PLC rack address
is in octal (0-7) form and must be converted to decimal (0-9) before enter it into the robot controL
Please refer to the conversion table belove . Note that some Allen Bradley PLCs (2130) may use
rack address 1 as first address which corresponds to 0 in the robot control and that the highest
rack address number is dependent on the PLC being used .


RIO RACK ADDRESSING

RACK ADDRESS RACK ADDRESS
AB SERIES AB SERIES ABB ROBOT AB SERIES ABB ROBOT

2/30 3/0115/ 3/0115/

40 3L
1 0 0
41 39
2 1 1
42 34
3 2 2
4 3 3 43 35
5 4 4 44 36
6 5 5 45 37
' 7 6 46 38
6
7 7 47 39
IV 8 50
~' 9 51 41
14 10 52 47
15 11 53 43
' .4 12 54 44
1s 13 55 45
lb 14 56 46
11 15 57 47,
20 16 60
21 17 61 49
22 18 b4 50
L3 19 63 51
44 20 64 52
45 21 65 53
26 22 66 54
27 23 67 55
SU 24 ' 70 56
31 25 71 57
3L 26 72 58
33 27 ' 73 59
34 28 74 60
35 L9 75 61
3b 3U 76 62
37 31 77 63

Starting Quarter, STQUART (Definition range 0-3,)

This information is given by the PLC controls programmer .

ABB Allen-Brad Remark

=0 =0 First (valid for all four rack sizes)
=1 =2 Second (only valid for 1/4,214 and 3/4 racks)
=2 =4 Third (only valid for 1/4 and 2/4 racks)
=3 =6 Fourth (only valid for 1/4 racks)

When the I/0-rack is split to different chassis you must state the starting quarter . The starting
quarter has no influence on the 1/0 numbering in the robot control . In some Al-lenBradley
documentation it is named "Starting Group Number"

Last Rack, LASTR(Deflnition range 0 or 1)

This information is given by the PLC controls programmer .
Last rack is set to =1 if the RIO-board is the highest address on the remote I/O-link . De-fault is
=0.

WSTALLATION 53
5:59
 Data Rate, DRATE (Definition range 0,1 or 2) .
This information is given by the PLC controls programmer. 0= 57,6 kbit/s, 1= 115,2 kbit/s, 2--
230,4 kbit/s .

Summary of RIO variables

Rack size RIO In 1/O on Starting UO boards UO on Dig

slot RIO Quarter

1/4 32 .1,2,3
0 0 0
1/4 3 32 0. 1, 2, 3 O' l 0,16
1/4 4 32 .3
0,1,2 0,1 . 2 0,16,32
1/4 5 32 .1,2,3
0 0,1 .2.3 0,16,32,48
1/4 6 32 .2,3
0,1 .2,3,4
0,1 0,16,32,48,64
2/4 2 64 0.1 . 2 0 0
2/4 3 64 .1,2
0 0,1 0.16
2/4 4 64 0 .1, 2 0 .1 . 2 0, 16,32
2/4 5 64 0, 1, 2 0, 1, 2, 3 0, 16,32,48
2/4 6 64 0, 1 .2 0, 1, 2, 3,4 0, 16,32, 48,64
3/4 2 96 0,1 01 1 0
3/4 3 96 O' l 0 0,16
3/4 4 96 0,1 .2
0,1 0.16,32
4/4 2 128 0 0 0

Beiaitiah a robot computer when all parameters have been set and save parameters to disk .

Miscellaneous

UO-Map
Under the function UO USE+I/O MAP in the parameters it is possible to define the physical
location of the inputs and outputs. You may enter any number from 1 to 128 even if the robot
contains less I/O .
The I/Os on the RIO-board appears as I/0 groups 0-7 with bits 0-15 . le. physical output nr 1 of
the first 16/16 FO's to the RIO in the robot control is equal to bit 0 graarp 0 in the Allen-Bradley
PLC .

LO- link
Using LO-link you can "link" an input to an output . A linked output Mows the state of the
associated input and cannot be forced on or off or on the programming unit . This feature is useful
when using the RIO and you may need outputs controlled by the PLC or inputs directly to PLC
independent of the robot task program.
To edit a linked 1/O you must clear the existing links and enter the revised table again . The
maximum number of links allowed is 15 .
 52
Resolver c ahbration

5 .3 .1
Resolver data in general

The resolver data is specified for each installed and calibrated motor package for the robot
systems external and internal axes .
The resolver data consist of commutation and synchronizationoffsets for the different axes
which are both determined by the angular position of the resolver under certain specific
conditions .

The resolver data must NEVER changed without the external and internal axes of the robot
system fulfilling these certain specific conditions .

See service manual.

It is not possible to change commutationoffset data for IRB 6000 . The resolver is
mounted and calibrated by the motor manufacturer .5.32
Basic menu and submenus

The following basic menu for system parameters related to resolver data is given under
PARAM + RESOLVE in the MANUAL menu on the programming unit .

lore

go Activation of the control

system should not be
attempted when the robot is
in the MOTOR ON mode

AXIS NR CE ENTER
For IRB 2000 motortypes
are defined acc.
to table below .

INSTALLATION
561


Motor- Article number

typ e IRB 2000 Axis

1 4429 548 - BX 1,3 ELMO

2 4429 548 - BW 2 ELMO

3 4429 584 - BI 1-3 Siemens

If an attempt is made to take the robot into MOTOR ON without motortype defined, the
following error message will be displayed : "542 MOTORTYPE NOT DEFINED" and the
robot will remain in MOTOR OFF.
Sub menu for commutation offset (not for IRB 6000)

Sub menu to COMMOFF .

RESOLVER Al FINE = XXXX COMMPAR = YYYY

UPDAT NEXT MAN DEF BREAK

RESOLVER Al FINE = XXXX COMMPAR = YYYY

VALUE = CE ENTE -,

Information text upper line programming unit:

- RESOLVER Al ' Resolver feedback axis L
- FINE = XXXX Actual position of the fine resolver in resolver
increments.
- COMMPAR = YYYY ' Active commutation offset in resolver increments,
obtained from the parameter memory.

Sub menu for c aHbration offset

Sub menu to SYNCOFF.

INSTALLATION
5:62


UPDAT NEXT BREAK

In the case when external axes are defined with absolute measurement servo system,
according to the method with finelcoarse resolver, is also this
alternative available

RESOLVER Al COARSE = XXXXSYNCPAR = YYYY

UPDATE NEXT MANDEF BREAK

Information text upper line programming unit:

RESOLVER Al ' Resolver feedback aids 1 .
FINE = XXXX Actual position of the fine resolver in resolver
increments.
SYNCPAR = YYYY Active resolver offset in robot increments for fine or
coarse resolver obtained from the parameter memory .
COUNTER=S ' The actual value of the counter in whole resolver turns .
CPAR=YYYYY Actual value of turn counter obtained from the
parameter memory. The value of the counter in the
calibration position is required for calculation of present
position at power-up.

In the case with coarse resolver.

- COARSE--M= Actual position of the coarse resolver in resolver
increments.

INSTALLATION
563


53.3
Handling of calibration parameters

1. Introduction:
The control system can be in the MOTOR ON mode. The joystick is however blocked in
the menu when UPDATE can be selected to prevent motor and resolver axes changing
positions in connection with this function :

2. The function UPDATE:

- Before an axis number is selected, the associated motor and resolver axis must be in
the correct position for the operation intended . In the case when only the counter is to
be updated is it sufficient to position the robot according to the calibration scales on
the robot . Note that all axes must be in the right position .
While in the menu in which UPDATE can be executed, the actual position of the
resolver (FINE = XXM or COARSE = YYYY) is presented the form of a mean value of
all samples (2 times/sec) . Before selecting UPDATE , it is advised to wait for approx.
1.5 s after having run the robot.
When UPDATE is pressed, the actual mean value of the resolver position is
transferred to the parameter memory .

3. The function MAN DEF:

a) Method A.-
- An axis selected previously can be run to the correct position after the selection of
MAN DEF.
- The actual position of the resolver (FINE = XXXX or COARSE = YYYY) is presented
without the calculation of mean value.
- After adjustment, the value presented can be read in and is then transmitted to the
parameter memory.
b) Method B :
- Manual reading-in of commutation and resolver offset to the parameter memory
with values in accordance with the robot identification documentation .
- The value of the counter can NOT be defined manually .

4. Auxiliary function :
- NEXT ' Selection of the next axis in consecutive order .
- MANDEF + ENTER = without entry of data
' No updating of the parameter memory.
- BREAK ' Return to proceeding menu .
- ACTIVE ' ' Conclusion .

5. Conclusion :
When the check or change is complete, the concluding action is to press ACTIVE in the
proceeding menu . The changed parameters are actuated after the concluding
initialization of the control system . The control system is then in the MOTOR OFF
mode and unsynchronized in case that NOT all axes has absolute measurement .

INSTALLATION
5:"
 5.34
COMMOFF, Commutation offset

Description
To obtain the maximum torque when controlling ac . motors, the angular position of
the rotor in relation to the stator must be known to the control system.

Definition
The commutation offset for an ac . motor package is defined as the angular position in
resolver increments of the fine resolver when the rotor stands in a certain position in
relation to the stator . The commutation offset is defined in the position when the
rotor has been rotated so that the markings on the fixed stator and the
movable rotor coincide.

Parameters
System parameters for commutation offset are required for all ac. motors i .e. for
robot axes 1-6 and external axis 7 with internal drive unit for control of the ac .
motor.

Menu COMMOFF + Selection of axis .

Def. range
0-8191 resolver increments .
If a non-acceptable value is entered an error message is shown .

Default value
1 These parameters are not predefined in the PROM . When loading predefined
parameters from the PROM to the parameter memory, the commutation offset
for all axes 1-6 is set to undefined.
2 The default value for axis 7 is 2048(adjusted for certain factory commutated
motors).
3 The values which apply for the robot installation are always specified in the
robot ID-document.

. It is therefore important to define the resolver parameters after loading the

predefined parameters from the PROM.

Menu selection

UPDATE = The actual position of the resolver is transmitted by the control system
to the parameter memory . This assumes a rotor position in accordance
with the definition above .

MANDEF = Manual entry of the commutation offset to the parameter menu.

INSTALLATION S3
5 :5


5 .3 .5
SYNCOFF, Synchronizing offset

Description
To obtain correct handling of TCP and thereby straight lines, the position of the
resolvers in relation to the mechanical must be known to the control system .

Definition
The synchronization offset for an installed motor package is defined as the
angular position, in resolver increments, of the fine and coarse resolvers, when
the robot axes and external axes are in the synchronization position (calibration
position in systems with absolute measurement) . When in this position, the
synchronization offset can be read on the programming unit.The value of the fine
resolver together with a counter (or coarse resolver) gives the possibility to
calculate a absolute position without synchronizing the robot .

Parameters
System parameters for synchronization offset are required for all axes installed .

Menu SYNCOFF + Selection of axis .

Def. range 0-8191 resolver increments . (Fine- and coarse resolver)

0, -1, +1 turns (the counter of the fine resolver in calibration position)

Default value
Not predefined in the PROM . When loading predefined parameters from the
PROM to the parameter memory, the resolver offset for all axes is set to 0 and the
counter to 'undefined" . The synchronizing parameters must therefore be entered
after such an operation .
The values which apply for the robot installation are always specified in the robot
ID-document except for the counter that always is updated manually .

Menu selection
UPDATE = The actual position of the resolver is transmitted by the control system
to the parameter memory . This assumes a rotor position in accordance
with the definition above.
MANDEF = Manual entry of the resolver value to the parameter memory .

53 :6
COUNT
Description
Using this key, all revolution counters are set to zero.
Resulting question
UPDATE ALL COUNTERS?
YES or NO
5.4
Test running (MANUAL mode)

See the Product manual chapter Safety and the Programming Manual for detailed
information about operation and programming .

1 . After checking the system parameters the robot can be started.

From MOTOR OFF, as described in chapter 4 .3 the robot system is switched to
MOTOR ON by pressing the enabeling device .

2. Robot system with absolute measurement has a well known absolute position if
the robot system is calibrated and is therefore directly ready for operation .

Calibration is described in the service manual .

If the system have external axes that has to be synchronized (wellknown home
position) before the system is ready for operation the MOTOR ON -lamp
will start to flash . The external axes are synchronized by pressing the SYNC
button on the programming unit .

3. The robot is ready for operation when the MOTOR ON - lamp stops flashing
and the text READY is presented on the display .

Before pressing the synchronization button make sure that external axes are free
to move into the synchronizing position (home position) .

Test running should be performed in a series of steps . Begin by running the robot manually
through its complete working range .A simple positioning program can then be test-run,
instruction by instruction to begin with, and then in an automatic sequence at different
speeds. .

The peripheral equipment can be tested either by programming and executing instructions
which activate the peripheral equipment or by simulating the corresponding signals in the
peripheral equipment .
Perform a systematic check that all functions in the peripheral equipment are executed as
intended. A test-run of a program combining robot and-peripheral equipment operations
should then be performed.

The test-run is to be concluded with checks of the functions of any sensor in the system and
the transmission of data over any computer link .

Check the storage of program material on diskette and its return to the robot memory .


5.5
Parameter errors
The error conditions associated with the parameter memory check are described below :

Condition 1.
The system does not start because of errors in the parameters currently
stored in the parameter memory . The following series of actions is then necessary:

• The programming unit shows first a menu of the languages available in the system.
Select the language required .

• The programming unit then shows a menu for selection of which system parameters are to be
used

The following alternatives are available :

a. Loading of predefined parameters from the PROM :

- Press FR PROM. Note that not all the system parameters are predefined That means
that when reloading, the resolver and commutations offsets will be reset .

b. Loading of stored parameters from diskette :

- Insert a diskette containing valid system parameters in the disk drive .
- Press FR DISK.

Check that the disk have the right resolver data, belonging to the actual robot . If
data from an other system is loaded, the robot can move in a unexpected way .
Always check the calibration position of the robot with the system disk (see
chapter 8.3 Test program) before the robot is taken in production again.


• The system loads the parameter memory in accordance with the selection made .

• The system restarts .

Condition 2 .
The system does not start because of incorrect definition of one or more
individual system parameters or because the control system is not provided
with the equipment defined by the system parameters .

• The programming unit first presents one or more error messages on the upper line and a
menu for selection of changes of the parameter memory on the lower line .

• First correct any incorrect equipment settings .

513 MISPLACED VO BOARD 1

CHANGE FR DISK FR PROM

• Then select a suitable alternative to correct any incorrectly defined system parameters :

a. Individual system parameters can be corrected with CHANGE. See further section 52 .
Select ACTIVE in the succeeding menu to start up the system after the
incorrect equipment setting have been corrected .

b. Function button FR PROM as for condition a above .

c. Function button FR DISK as for condition b above .

• The system starts up.

INSTALLATION
5:69
 5.6
Index
Word Section
AXIS-7-12 (external axes) 5.2.4.13
ABSOLUTE MEASUREMENT 5.2.4.2
ACTIVE 5.L2
ARM 5.2.4.17
AUTO 5.2.1
AUTOC 5 .2 .4 .19B
AXIS 7 5.2.4.13
AW REST 5 .2.4 .23
BRAKE 5 .2.4 .14
BWD 5.2.4.19.B .10
CHANGE 5 .2
CIRCLE 5 .2.4.5A
CLINK 5 .2.4 .5
COMMOFF 5.3.4
COARSE 5 .24.4
CORNER 1, 2 5 .2.4.4
COUNT 5 .3 .6
CURR(ent) 5 .21, 5.2.4.24
CUR/WIR 5.2.1,5.2.4 .23 .B
DIGITAL I/O 5 .2 .4 .7.2
DISK(ette) 5 .1.3
DISP 5 .2.4 .19.B .11
DRATE (RIO) 5.2.4.31
EDIT 5.2.4.19.B .1
EM-STOP 5.2.4.19A
ERRORS 5.5
ESAB (I/O) 5.2.4. 10 A
MAX 5.2.4.13, 5 .2.4.15
FINE 5.2.4.4
FR DISK 5.1.3
FR SC 5.L4
GLUE 5.2.4.20
GRIPPER 5.2.4.16, 5.2.4.19 .B.3
HAND 5.2.19.B.2
HOLD TO RUN (HOLD RC) 5.2.4.19
I/O TYPE 5.2.4.7.1
INCH/MM 5.2.4.3
INS ST 5.2.4.19 .B9
IRB IDENTITY 5 .2.4.5
I TIME 5 .2.4.13
EP 5.2.4.13
LASTR (RIO) 5 .2.4 .30
LINK I/O 5 .2.4 .7 .4
LOAD 5 .2.1,5.2.4.17-18
MAN DEF 5 .3.2-3
MASS (KG) 5 .2.4 .17-18
MODPOS 5 .2 .4 .21
MONITOR 5 .2 .4 .9
MOUNTING 5 .2 .4 .2
MOVEREST 5 .2 .4 .19.B .14
MSPEED 5.2 .4.13
OPTION 5.2 .1, 5.2 .420
0-ZONE (see zone)
PANEL (I/O) 5.2.4.11
PARAM 5.1 .2
PARAM MAX 5.2 .4.24
PARAM MIN 5.2.4.24
PATH 5.2.4 .4, 5.2.423A

INSTALLATION 83
5:70
 P GAIN 5 .2 .4 .13
PORT 5 .2 .4 .24
PRINTER 5 .2 .4 .8
PROCESS ORIDE 5 .2 .4 .19 .B.4
PROG ST 5 .2 .4 .19 .B .8
RADR (RIO) 5 .2 .4 .28
PROM 5 .2.2
REF MAX 5 .2 .4 .24
REF MIN 5 .2.4.24
REF POINT 5.2.4.24
RESET 5.2.4.19 .B .7
RESEQ 5.2.4.25
RESOLV 5.3
RESTART 5.2.4.2
RIO CONFIG 5.2.4.7.1
ROBOT (WORKING RANGE) 5.2.4.12
ROTAX 5.2.4.32
RP MODE 5 .2.4.22
SIM 5.2.419.B .13
SC 5 .1.4
SPEED 5 .2 .4.19.B .5
STATION 5.2.4.15
STOP 5 .2 .4.19 .B .6
STQUART (RIO) 5 .2 .4.29
SWELD 5 .2 .4.26
SWI 5 .2 .4.27
SYNC 5 .2 .4.2, 5.2.4.19.B .12
SYNCOFF 5 .3 .2-5
SYNC POS NO 5 .2 .4.2
SYS(tem I/O) 5 .2 .4.10
SYSTEM or PANEL LO 5 .2 .4.7 .3
TO DISK 5 .1 .3
TO SC 5 .1 .4
VOLT 5 .2 .1, 5.2.424
WIRE SP 5 .2 .1, 5.2.424
WRIST 5 .2 .4 .18
ZONE 5 .2.4.4

INSTALLATION
5 :71
INSTALLATION
5 :72


6
EXTERNAL AXES

6.1
External axes and axis 7

Axis 7 may be defined as either an internal or as an external axis .

The following table shows the difference between an internal and an external 7th axis :

Axis 7 defined as Axis 7 defined as

internal external

Max. no . of axes 6* IRB 2000,3000 6 IRB 2000, 3000

outside the manipulator 1** IRB 6000 1 IRB 6000

Drive unit AC drive in External drive unit with speed

control cabinet reference from control
system

Motor 4- or 6-pole DC or AC, depending on-

synchronous motor, drive unit
of IRB-type.

Connection for monitoring

motor temperature yes No

* If an internal axis 7 is installed, 5 further external axes can be controlled by the robot
** If aniinternal axis 7 is installed, no further external axes can be controlled by the robot .

r
MOTORS ON 1 -,

1
0- MU I UKS UN 2
Drive DRIVE
BRAKE unit POWER
Control
system POWER OK

SPEED REF
01 NE RESOLVER

06
COARSE
ESOLVEF

SYNCH
SWITCH
0
SUPPLY

INSTALLATION
&1


6.2
Required equipment

The following equipment is required to control external axes: -now

External axes board, DSQC 233, must be fitted in the control system (not needed if internal
drive unit is used) . This board contains hardware for the signal interface to all 6 external axes .
External axes are connected to XS4, XS3 and XS7.

• For external sizes 7 -12:

Drive units for all axes . The external drive unit should have the same
performance data as the robot, Le:
- Power failure, one period without operational disturbance
- Power variations, -15% - +12% of rated voltage
- F requence variations . -2% - +2% of supply frequency

• Common logic for all axes (not applicable to internal axis 7) . The logic must process
control signals from the robot for.
- MOTOR ONIMOTOR OFF
- applying brakes

• For internal drive unit

A 4- or 6-pole AC synchronous motor, type IRB .

• For systems without absolute

- One resolver per axis for position control
One sync. switch per axis for definition of sync. position.

• For systems with absolute

- Two resolvers per aziss, for position control and absolute measurement
- One resolver and serial measurement board with battery for internal drive unit .

• Supply voltage for control signals and sync- switches:

- +24 V LO from the control cabinet See section 3.6.1 "24 V 1/0" for technical data.
- External +24 V supply . See section 3.6.2 "External power supply" for technical
data.

• Cabling fulfilling signal class "Measurement signals" see section 3.1 "Signal classes" .

• Apparatus cabinet for the above equipment, should fulfil enclosure class IP 54
according to IEC 144 and IEC 529.


6.21
Technical data

Resolvers of transmitter type, external drive units

Electrical data
Primary Bata
Frequency 2 kHz
Rated voltage 5 .6 Vrms
Impedance >150 ohm
Supply capacity 0 .5 A rms (12 resolvers)

secondary Stator
Transmission ratio 0.5±10%
Impedancex <200 ohm
Fine resolver ratio 1:1
Coarse resolver ratio 136:137

Sync
. switches, limit switches
Max. voltage 35 VDC
Load min 10 mA

Motor, Internal axis 7

Technical data ABB Production
Development have further
information.

Resolver for serial t board

Electrical data
mare Baba
Frequency 3-4 kHz
Rated voltage 5 Vrms
Impedance >350 ohm

Secondary Sta
Transmission ratio 0.5±10%
Impedancex <400 ohm
Phase shift -50 ± 3°

INSTALLATION
6:3


Status signals from the control system

(EXT MOTOR ON 1, 2, EXT BRAKE)
Max. supply voltage 48 VDC
Mac: Urrent continuously 1 A
Max. potential in relation to ground 400 V
Signal class according to section 3.1 control signals

6.3
Signal description

6.3.1
Common signals

The following signals are for the external axes 7 -12 :

LIM SW E=1-7)
The signal is common to all limit-position switches throughout the system . All limit-switches
are connected in series . An open circuit indicates that the external axis has reached the limit
of its working range, and this will tripthe safety chains in the robot . The signal must be
jumpered if not used . When the MOTOR ON-button in the control system is kept depressed,
the axis can be jogged past the limit-position switches back into working range .

Note: The dual safety chains requries on intermediale relay if a single limit switch is used .

Control system
XS3/XT3

E STOP 1 A10
MLIM 1 A12
E STOP 2 Bl l
EXT LIM 2 B12


FORTES OH
Information to the control system from the common logic for external axes . If this signal is
not used for external axes, it must be jumpered .

Control system XS3 External drive unit

supply
POWER OK
C12
FORM ,-,

+ 24 V 1/0
A15

FTC M7. 0 V PTC M7

Temperature monitoring of a motor . The motor's PTC-resistor is connected in a dosed loop.
Open loop indicates that the motor temperature is too high . If a temperature monitor is not
used, the circuit must be jumpered .

PTC M7 D2

PTC- Motor
OVPTCM7 D1 resistor

Power supply
+24 V 1/O, O V
An internal 24 V voltage from the control cabinet . Provided the permissible load is not
exceeded, the voltage can be used for the following-

• Supply of sync. switches and associated control function (external axes without
absolute measurement).

• Supply of external brakes .

% FINE (7-12), Y FINE (7-12), X COARSE (7-12), Y COARSE (7-12), 0 V
The X FINE, Y FINE and 0 V signals are used for connecting fine resolvers to the control
system.

The X COARSE, Y COARSE and 0 V signals are used for connecting coarse resolvers when
the external axes are provided with absolute measurement .

X COARSE can also be used to connect sync . switches supplied by the EXC, (see below), if the
level of disturbance is moderate. However, in environments with a high level of disturbance,
separate SYNC-inputs are recommended (see below), supplied by +24 VDC.

SYNC (7-12)
Digital +24 V input from sync switches, external axes . The input can be supplied with +24 V
I/O or an external +24 V voltage.

EXC, 0 VEIC
Common supply of all resolvers .

INSTALLATION
6:5
 Connection in with low noise
level environment
Control system Sync. switch
E%C
00-00-
OVEXC
Screened
0 V X COARSE cabling
X COARSE
* See 6 .3 .3
Connection table
external axis

Connection in noisey environment, internal 24V supply

Control system +24 v VO Sync. switch

00001--
ovI/O
Screened
oV SYNC cabling
SYNC
* See 6.3.3
Connection table
external axis

Connection in noisey environment, external 24V supply

Control system External
+24 V Sync. switch
/-
Screened
0 V SYNC
cabling
SYNC
See 6.3 .3
Connection table
external axis

INSTALLATION


Connection of resolvers
EXC supplies the rotors of all fine resolvers in parallel via contact XS4 .

The rotor of the coarse resolvers is connected in corresponding manner, when the external
axes are provided with absolute measurement.

Each resolver contains two stators and one rotor, connected as shown in the figure below :

Control EXC
system oV

Stator
X FINFICOARSE

ov
See 6 .3 .3 Stator Y
Connection
table
external axis

YFINE/COARSE

622
Internal axis 7

Internal axis 7 is connected according to below :

M 17, M 27, M 37
Motor current &phase, (U-phase), S -phase (Vphase) and T-phase (Wphase) respectively.

Control XS7
system M17 Al A2
M 27 131 B2
M 37

PTC M7B
C1 C2

D2
WME"n
PTC- Motor
0 V PTC M7B resistor

INSTALLATION Ss
&7
 Connection table, internal axis 7

User contact XS7,

LIM 1 M7 A4 A4 A5, B4-B5 jumpered

LIMIT 1 A5 if not used

LIM 2 M7 B4
LIMIT 2 B5
PTC M7B D2 D2-D1 jumpered
0 V PTC M7 Dl if not used
24 V fro A10
0 V B10
BRAKE RESLEASE M7 A9

M17 Al, A2
M27 B1, B2
M37 C1, C2

63.3
External axes 7-12
As well as the signals described in section 6 .3.1, the following control signals shall be
connected between control systemt and external drive units :

EST MON IA lB and 2A -2B

Orders MOTOR ON/MOTOR OFF status in the control system to the common logic for external
axes. Closed loop indicates that the control system is in MOTOR ON mode (voltage to motors) .
Open loop indicates MOTOR OFF mode (no motor voltage) .

EST BRAKE ON
Orders BRAKE ON/BRAKE OFF from control system . Closed loop indicates that the robot
brakes are not engaged, i .e. the motors retain the robot arms in position.

Incorrect definition of the system parameters with respect to brakes or external

axes may result in hazardous conditions .

INSTALLATION
6:8


internal +24V supply

Control system External
0 V I/O drive unit

M01,; , +24 V 1/0

EXT MON A I
' EXT MON B

External +24V supply

External
Control system External
+24V drive unit

MON
EXT MON A
,J.-- EXT MON B

Note:
From the safety aspect it is important that the external motor is without power
when the robot is in MOTOR OFT mode.

The signal EXT BRAKE ON should be used to block the speed controller of the external axis
(BLOCK signal), so that any offset does not integrate up to the current limit when the brakes
are activated.

To prevent an external axis equipped with brake from moving when the brake is operated
(applicable to axes affected by gravitation), an extra time-delay may be created between EXT
BRAKE ON and BLOCK as follows.

1
EXT BRAKE ON
0
BI OC,K

VREF (7-12), 0 V VREF (7-12)

Analog reference signal,-10 - +10 V, for the speed reference from control system to the external
drive unit . System parameters define which ma-- voltage in the range -9 .4 - +9 .4 V corresponds
to the defined max. speed in the range -3000 - +3000 rpm. See section 52.4 .13 relating to
system parameters for the speed reference to an external drive unit .


Connection table, external axis

Customers connection, X

ESTOP 1 All
EXT LIM 1 A12
ESTOP 2 Bll All-B12 and Bll-
EXT LIM 2 B12 Bl2 jumpered if not used
24 V 1/0 A15 C12-A15 jumpered if not
POWER OK C12 used.
24 V 1/0 A16
OV D16
EXT MON 1A A13
EXT MON 1B A14
EXT MON 2A B13
EXT MON 2B B14
EXT BRAKE A C10
EXT BRAKE B Cli

Connection table, external axis 7

Contact LU

EXC C6
0 V ESC D6
X FINE C8
Y FINE D8
O V FINE B9
O V REF B3
VREF A3

SYNC Al
0 V SYNC C2
X COARSE AS
Y COARSE B8
0 V (COARSE) A9

Connection table, external axis S

Contact
ESC C6
O V ESC D6
X FI E C10
Y F1 E D10
OVFINE D9
O V REF D3
VREF C3

SYNC B1
O V SYNC C2
X COARSE A10
Y COARSE B10
0 V COARSE C9

INSTALLATION S3
6:10


Connection table, external axis 9

Contact XS4
EXC C6
OV EXC D6
X FINE Cil
Y FINE Dli
0 V FINE B12
0 V REF B4
VREF A4
SYNC Cl
0 v SYNC C2
X COARSE All
Y COARSE Bii
OVC A12

Connection table, external axis 10

M
EXC C7
0 V EXC D7
X FINE C13
Y FINE D13
OVF D12
OVREF D4
VREF C4

SYNC Dl
0 V SYNC C2
X COARSE A13
Y COARSE B13
0 V COARSE C12

Connection table, external axis 11

Contact Z&
EXC C17
0VEXC D7
X FINE C14
Y FINE D14
0 V FINE B15
0 V REF B5
VREF A5

SYNC A2
0 v SYNC C2
X COARSE A14
Y COARSE B14
0 V COARSE A15

INSTALLATION
& 11
 Connection table, external axis 12
Contact XS4

EXC C7
0 V D7
X FINE C16
Y FINE D16
0 V FINE D15
0 V REF D5
VREF C5

SYNC B2
0 V SYNC C2
X COARSE A16
Y COARSE B16
0 V COARSE C15

INSTALLATION
& 12
 6.4
Switching up and starting (MANUAL mode)

Once installation of the drive unit, control signals, motors and resolvers is completed, the
external axes can be started up . The start up procedure for internal axis 7 differs from that of
the external axes 7-12.

6.4.1
Internal axis 7
If internal axis 7 is the Servo-Driven Track Motion, see Installation Manual for resp . Track
Motion-type for system parameters. For different type of motor follow the instuction that
belongs to the motor in question .

1. Connect motor and external equipment as explained in the previous section .

2. Enter following system parameters (for detailed information, see section 5 .2.4 .13)

Select axis 7
Definition of axis 7
Limiting work range
Preliminary position gain, B =S
p
Max . motor speed
Control from internal drive
Preliminary start-parameters for speed reg.
P = approx. 5
I = approx. 2.5 sec

3. With the robot in MOTOR OFF mode, adjust the predefined reference position for the AC
commutation by turning the shaft by hand until the markings on the rotor (or brake if
there is one) and the motor shaft coincide . Read, note and update the resolver position
= preliminary commutating offset (see section 5 .3 .4).For certain types of motors, with
built-in resolver, the commutation offset is predefined to the value 2048 .1 these cases
there is no need of ganging the commutation offset .

Check that right commutation offset is defined . Wrong value can result in an
uncontrolled motion . No warning is given if the predefined value is wrong.

4. Turn the motor shaft extremely slowly in the positive direction (clockwise as seen
firm the front) and check with the SYNCOFF function on the programming unit that the
resolver value is increasing. At a value of 8192, the value changes to 0, and then
increases again (see section 5.3.2).
If the value decreases, change polarity on the stator winding of the fine resolver
(signals Y ME and X FINE) and repeat from point 3 above .

5. Update the synchronization offset and the turn counter in the calibration position .

6. Press the enabeling device to get MOTOR ON mode . If the axis races, or remains
stationary at attempts to move with joystick, check the phase sequence to the motors and
the commutation position (paragraph 5 above) .

INSTALLATION
6:13


7. Go to the MOTOR OFF mode (release the enabeling device) .

8. Trim the internal axis as directed in section 6 .5 .

9. Enter the trimmed value on position gain, l5p as a system parameter .

10 . Test-run the robot and the external axis .

64.2
External ases 7-12

L Connect the external drive unit to the motor and external equipment as explained
in the previous section .

2. Enter the correct values for the following system parameters (see section 5 .2.4.13)
- Definition of axes connected
- Limiting work range
- Preliminary position gain, Rp=5
- Max. motor speed
- For axis 7, select EXTERNAL
- Max . output voltage for ref. speed

3. With the system in MOTOR OFF mode, turn the motor shaft extremely slowly in the
positive direction (clockwise as seen from the motor drive shaft) and check with the
SYNCOFF function on the programming unit (see section 5 .3.2) that the resolver
value is increasing.
At a value of 8.192, the value changes to 0, and then increases again .

If the value decreases, change polarity on one stator winding of the fine resolver
(signals Y FINE and X FINE) and repeat.

4. Press the enabeling device to get MOTOR ON mode . If any of the external axes races, or
if a servo-lag fault is obtained on the programming unit, the following faults may have
occurred.
- Wrong polarity on tachometer feedback connection
- Wrong polarity on speed reference
- Point 3 above has been incorrectly executed

5. Go to the MOTOR OFF mode (release the enabeling device) .

6. Trim the external axis as directed in section 6 .5.

7. Enter the value of position gain, Bp as a system parameter.

8. Adjust the synchronizing position in accordance with section 6 .6 "Adjusting

switches and absolute measurement transducers" .

9. Synchronize and test-run the robot and the external axes .

Warning!
Both commutation offset and synchronization offset are stored as system
parameters. The system parameters are thus dependent on the robot, which may
entail certain restrictions if system parameters are taken from PROM, floppy disk
or superior computer, see section 5.1.
 6.5
Servo-trimming of axes 7-12

6 .5.1
Preparation

Equipment required :
Two channel printer (chart recorder) 25-125 mm/s, e .g. Brush 220
Cables

Settings required in the control system :

- Speed controller parameters for internal axis 7
- Position-controller parameters for axes 7-12

Settings required in externall driv systemet:

- Speed-controller parameters
- Current limit
- Overload protection

For setting and trimming of external driv systemet, please refer to the relevant
documentation . When trimming the external, driv systemet, the control system can generate
speed reference. A description of this, together with some general hints for trimming the
speed regulator are given in section 6.5.2.
Connect and start the external axes as described in section 6.42.
Start by trimming the speed controller and then continue with the position controller. All
axis speed supervision functions are not active during trimming .

6.5.2
Speed controller, internal axis 7

1 . If the axis has variable moment of inertia,the gain should be trimmed with the
smallest possible moment of inertia. The integral part of the gain should be trimmed with the
maximum possible moment of inertia.

2. Connect the printer channels to the test outputs on the robot computer . Marked 1
and 2 with common zero point ground . Voltage level *10 V).

3 . TSIG. Activate test signals via the P-unit using function TSIG (see section 6.5.4 .1):
- CHANNEL 0 (output 1) = TEST SIGNAL 17 (speed, high) or 18 (speed low) .
- CHANNEL 1= TEST SIGNAL 16 (torque reference)

4. TRIM. TUNE. The TUNE function is not yet available . The tuning parameters are
entered as system parameters.
External axes are servo-trimmed according to the suppliers instructions . Offset
error should be eliminated . That is to say, when supplied with zero reference, the
axis should be at stand still. The following example is valid for an internal axis 7 .
- P = approx. 5 times
- I=25s

5 . TRIM, MOVE . (The robot first has to be synchronized) Define a back and forth
trimming movement using the MOVE function (see section 6 .5A.2)-
- TYPE OF MOVE = 3
- VELOCITY =. approx. 5%, the speed must be low enough to guarantee not
encountering the current limit but high enough to prevent the friction from
affecting result.
- DISTANCE =1 revolution of the resolver, the distance should be selected to
ensure that max. speed is reached before declaration starts.
- WAITING TIME =1 s, the time chosen should be sufficient to allow the axis to
stop before turning .

6 . TRIM, START. Start the defined movement by pressing the START button (see
section 6.5.4.2).

INSTALLATION
&15
 7. TRIM, TUNE . Satisfactory trimming is obtained by repeating steps 4, 5 and 6.
Adjust the system parameters in the following manner-
- Increase the gain (P) until overshoot is just reached .
- Adjust the integration (I) . Gradually decrease until the overshoot is approx .
5-10%. No more than 1-2 oscillations should be accepted .

Speed

< 15 %

Ti me
Torque reference (current)

Ti me

leg. Ideal step control response, speed control

6.5.3
Position control

1. If the axis has variable moment of inertia, the gain should be trimmed with
marimum moment of inertia .

2. Connect one channel of the printer (chart recorder) to test output on the robot
computer (test output 2 with common zero point ground . Voltage level ±10 V.)
Connect the other channel of the printer to the tachometer signal of the axis being
dealt with.

3. TSIG. Activate test signals via the P -unit using function TSIG (see section 6.5.4 .1).
- CHANNEL 1= TEST SIGNAL 16 (torque reference)

INSTALLATION
6:16
 4. TRIM, TUNE. Set suitable start values for the position gain . Sp, using system parameters :
- A7-A12 = approx . 5 (s-1)

5. TRIM, MOVE . Define a position controlled back and forth movement :

- TYPE OF MOVE = 4
- VELOCITY =1009b
- DISTANCE =approx. 10 revolutions of the resolver, the distance should be
selected to ensure that max . speed is reached before declaration starts .
- WAITING TIME = 2 s, the time chosen should be sufficient to allow the axis to
stop before turning.

6 . TRIM, START. Start the defined movement by pressing the START button .

7 . TRIM, TUNE . Adjust the gain in the following manner.

- Increase the gain Bp, using system parameters steps of 0.5 until the quickest

deceleration is obtained without overshoot .

Speed
IL

Time

Torque reference

MLI

Time

Fig. Ideal step response, position control

INSTALLATION S3
6:17


6Z A Handling of the P-unit

65.4-1 Test signal activation

Man + scan + scan + scan + scan

see
section 6 .6
point 2 .

STANDARD = (1) D4 1
D1 .

PRESENT VALUE = X

--
; 1V ;4 O"t Zinnias

Torque reference Kt
Axis Test signal 16
Test signal 17 Test signal 18
A/V Aeff/V Nm/V (Nm/Ae$) rpm/V rpm/V
Internal aria I
Ilm 2m
3000 1,32 0,93 1,82 1,95 222 13,E
Track motion

Internal aria
7
UM MOO 5,2 3,68 3,05 0,83 522 32,E
Track motion
Fig. The scale of testsignals

DiSTALLATION
6:18


6.5 .4.2
Trimming function

The TRIM function can only be activated in MANUAL mode . This results in that the
enabeling device must be activated during the whole TRIM procedure . If the
enabeling device is released during the trimming procedure or if program running is
intended to be carried out, the system has to be initialized again . If the system is
provided with external axes, with relative measurement, the system has to be
resynchronized before program running .

MAN + SCAN + SCAN + SCAN + SCAN

TRIM READSYN TSIG

TUNE is used when new control parameters are to be entered . (see below)
START is used to start the trimming movement
MOVE is used to define the trimming movement . (see below)

TUNE MOVE START BREAK

POSGAIN SPEED

E ZMVCWWT Position gain

VALUE = VV
A7 = Kp
CE ENTER

PRESENT VALUE = XX
A8 = CE ENTER

PRESENT VALUE = XX
A12 = CE ENTER

INSTALLATION gg
&19
INSTALLATION
 Type 1= axis movement in positive direction
Type 2 = axis movement in negative direction
Type 3 = 5 speed regulated cycles: positive movement
wait - negative movement - wait etc
Type 4 = 5 position regulated cycles: positive movement
- wait - negative movement - wait etc .

INSTALLATION
6.6
Adjusting synchronizing switches and absolute measurement transducers
Adjusting synchronization switches

1 . Run the motor to the synchronizing position.

2. When the axis moves towards the synchronizing position, the synch . switch must
be adjusted so that it closes when the motor is turned in the positive direction
(clockwise as seen from the motor drive abaft) . Adjust the synchronizing switch so
that switching occurs within *2048 resolver increments from the synchronizing
position . The switching can be seen on the programming unit, using the function
READYSYN, see section 6 .5.4.1.

3. Enter MOTOR OFF mode.

4. Read the resolver position while in the synchronizing position . Note it down and
update the resolver offset (see section 5.3.5). The resolver reading in the
synch onizing position is the correct value for the synchronizing offset .
5. Repeat the above procedure for all external axes.

6. Start the system, synchronize and check synchronization positions .

Adjusting absolute measurement,

1. Define the external axes as absolute measurement system .

2. Run the axis to the calibration position .

3. Enter MOTOR OFF mode.

Since the system has been defined as an absolute

system, the coarse resolver will be written out on the programming unit
after the fine resolver value . Both values should be read, noted and
updated simultaneously.

4. Follow the Procedure "Adjusting synchronizing switches" above, starting at paragraph 4 .



7
Quick start-up and Parameter index
This chapter contains start-up procedures from previous chapters :

7.1 Check-list before start-up

7.2 Start-up to standby

7.3 Test running

7.4 Coupling diagrams.

D ALLATION
7:1


7.1
Check list before startup

Before switching on the power, check as follows:

1 . The mains supply fused rating.

2. The supply transformer in the cabinet is connected for the correct voltage.

S. The unused circuits in the safetychains must be closed by connecting jumpering :

Auto Stop: XS3 or XT3 A3 - A4 and B3 - B4

Manual Stop: XS3 or XT3 Al - A2 and Bl - B2
General Stop : XS3 or XTS A5 - A6 and B5 - B6
Customer emergency stop XS3 or XTS A7 - A8 and B7 - B8,
A9 - A10 and B9-B10
MOTOR OFF clamping device XS3 or XT3 Cl -C2andDl-D2
External axes limit switches: XS3 or XT3 A11- A12 and B11- B12
Ext.drive units POWER OK XS3 or XT3 C12 - C16

4. If the controller includes the external axes option, check that the external axes
connections are made, or the following circuits are jumpered :

Motor PTC, axis 7: XS7 Dl-D2

7th(- 12th) axes limit switches: XS7 A4 - A5 and B4 - B5

5 . The programming unit is connected.

6. The operation modeselector on the operating panel is set to MANUAL

<250 mm/s .

INSTAIdATION
7:2


7.2
Startup to standby

1 . Make sure the cabinet door is closed

2 . Switch the power on.

3 . The MOTOR OFF lamp on the control panel illuminates when the system has completed
the hardware and software diagnostic test. This test
lasts about 30 seconds .

The following may occur after the start up routine is completed:

A. Normal start with presentation of the message " ABB ROBOT SYSTEM AT YOUR
SERVICE'.

B. Presentation of a fault message .

If the MOTOR OFF- lamp flashes, read the error message on the programming unit display .
Actions to be taken to correct different errors are described in separate sections in the
Programming Manual or the Service Manual. Correct the cause of the fault message and
continue the start procedure as in case 1 above.

C. System parameters absent

See the chapter "System parameters" .

Normally the robot starts up with the system parameters stored from the manufacturing. If
that's not the cage and a the fault message '501 FAULT IN THE PARAMETER MEMORY,
RELOAD"' is displayed must the system parameters must from DISC be entered, aec. t o chap .
5 .5'Parameter error'.

The system floppy disc delivered with the system is used.

This disc contains system parameters with resolver data that was valid at delivery of the robot
system (according to chapter 8)-

D. Specific system parameters.

Define the specific system parameters that is valid for the installation in question . Check and
entering of parameters is described in chapter 5 'System parameters'.

Before switching to the MOTOR ON mode, the system parameters must be checked in
particular the commutating offset and the robot sync . offset, to avoid racing and the
risk of a breakdown.

1. After checking the system parameters the robot can be started .

From MOTOR OFF, as described in chapter 43 the robot system is switched to
MOTOR ON by pressing the enabeling device on the programming unit .

2. Robot with absolute measurement has a well known absolute position if

the robotis calibrated and is therefor directly ready for operation .

Calibration is described in the service manual.

INSTALLATION S3
7:S
 If the robot has external axes that has to be synchronized (wellknown home
position) the MOTOR ON lamp start to flash . The external axes aresynchronized by
pressing the SYNC button on the programming unit .

3 . The robot is ready for operation when the MOTOR ON - lamp stops flashing
and the text READY is presented on the display .

Before pressing the synchronization button make sure that external axes are free to
move into the synchronizing position (home position) .

7.3
Test running MANUAL mode)

See the Product manual chapter Safety and the Programming Manual for detailed information
about operation and programming .

Test running should be performed in a series of steps . Begin by running the robot manually
through its complete working rangeA simple positioning program can then be test-run,
instruction by instruction to begin with, and then in an automatic sequence at different speeds.

The peripheral equipment can be tested either by programming and executing instructions
which activate the peripheral equipment or by simulating the corresponding signals in the
peripheral equipment
Perform a systematic check that all functions in the peripheral equipment are executed as
intended. A test-run of a program combining robot and peripheral equipment operations should
then be performed.

The test-run is to be concluded with checks of the functions of any sensor in the system and the
transmission of data over any computer link .

Check the storage of program material on diskette and its return to the robot memory .

INSTALLATION
7:4


7.4
Coupling Diagrams

Coupling Diagrams XS3 / %T3

A B C D
1 ENDEVB ENDEV-N MOFF MOW HOLD2
HOLD 1A
2 M STOP 1 MSTOP 2 MOW 0V
HOLD 1B
3 24V SYS ov EXT MODE EXT MODE
COM1 COM2
4 A STOP 1 A STOP 2 EXT AUTO 1 EXT AUTO 2
5 G STOP 1A G STOP 2A Err MAN 1 EXT MAN 2
6 G STOP 1B G STOP 2B EXT MAN FS 1 EXT MAN FS 2
7 G STOP 1B G STOP 2B HOLD 1 HOLD 2
8 ES 1C ES 2C HOLD 11 HOLD 21
9 ES IA ES 2A HOLD 12 HOLD 22
10 ESTOP 1 ESTOP 2 EXT BRAKE A SENSOR 1
11 ESTOP 1 ESTOP 2 XT BRAKE B SENSOR 2
12 EXT Um 1 EXT LIM 2 POWER OK SENSOR 3
13 EXT MON 1A MET MON 2A EJ ANSLUTEN OV SENSOR
14 ERT MON B MON 2B ov 0v
15 24 V 1/O 24 V 1/0 0V 0V
16 24 V 1/O 24 V I/O 24 V LO 0v

U3 %T3
D C B A
D
C
B
A
16 10 5 1

Screw terminal

Note : Signal identity corresponds to

Circuit Diagram, Control system
pages 6 - 9 (Service Manual S3)
External connector Future information of safety chains
is found in chapter 3 .4

INSTALLATION
7:5


INSTALLATION S8
736
 8
SYSTEM DISK

Each robot is delivered with a system disk, 3HAB 2030-1 with the following files :

1. System parameters, for the robot at delivery date .

2. Two blocks of error codes in plain language .

Block 0 = English
Block 3 = Swedish

3 . Test programs for running the robot to its calibration positions .

Block 10 = test program without external axis .

Block 20 = test program with external axis.

8.1
Robot system parameters

The system parameters with resolverdata, and option installed at delivery date,
are stored on the system disk .

8.2
Error codes in plain language

The function ERROR CODES in . plain language provides more information to the
operator in case of system errors. These are shown on the optional monitor or on
the programming unit when the*" buttons is pressed.
The texts are stored as ordinary comment instructions and should be loaded into
their designated memory area at robot installation .

8.21
Loading the error codes

Function
Loads the . plain language error codes to their designated memory area from a
diskette. First, insert the disk in the disk drive unit .

Menu
MANUELL + ERROR CODES + FROM FS

Resulting question
BLOCK NO.=

INSTALLATION
8:1


L2.9
Changing the texts

The block with the texts consist of ordinary comment instructions, and may be
handled as any ordinary program (see the Programming Manual).

Changing when running Off Line

To change the text program, the off-line system must be able to handle the
instruction numbers since these numbers are used to locate the correct texts (see
the Error code table).

Ganging via terminal connected to a printer

Load the block into the ordinary user memory and edit the comment instructions
via the terminal, if required . Note that the instruction numbers are used to locate
the correct texts (see the Error code table) .

Minor changes via the programming unit

Load the block into the ordinary user memory and edit the comment instructions
via the terminal, if required . Characters A-Z may be used and no more than 24
characters may be entered.

Rules
• Division of words via the programming unit is done after the last space or
hyphen of the line or after the 37th position if none of the mentioned characters
can be found among the last ten characters of the line .

• An axis number is stated in the error code for some of the error messages, e .g,
506 SERVO ERROR 2 1403 .
If the plain language text ends with AXIS #1, the axis number replaces the #1 .

In case of resolver errors, the fine or coarse resolver is indicated by stating 1-12 for
the fine resolver and 13-24 for the coarse. If the plain language text ends with
AXIS #2, the axis number replaces the #2 . After #2, an additional text FINE for 1-
12 and COARSE for 13-24 is shown.

mph~
506-1402 SERVO. JAM ERROR AXIS 2
506-1215 SERVO. RESOLVER ERROR CHANNEL Y AXIS 3 COARSE

The additional texts FINE and COARSE are stored along with the rest of the plain
language texts with instruction numbers 5090 and 5091 respectively .

• Redundant text may be removed if the designated memory area is getting full.
Most of the text instructions 4130-4660 are identical to the original texts and
may thus be erased without any information loss.
Unless a Vision system is connected to the robot, instructions 300-490 and 6200-
6240 may also be erased .

Requirements
• All comment instructions must be gathered in one file .

• The memory may be compressed using the function button RESET under the
MANUAL menu.

• The program must not occupy more than 25% of the user memory area, i.e .
FREE MEMORY >_75%.

• The comment instructions must be numbered according to the Error code table .

INSTALLATION
8:2
 * No other program must be present in the block .

Storing the block on a disk

After changing the text, the file is to be stored on a disk . The file may later be
restored from the disk to the memory area .

Testing the cbanged texts

In addition to the tests automatically carried out when the texts are downloaded to
the designated memory area, the following tests are to be carried out :
L Print a list of the complete program.
2. Check that the first and last text and a few texts in between can be shown on the
screen and programming unit by selecting texts with MANUAL + ERROR
CODES + TEXT.
3. Check the division of words in the revised texts on the programming unit and
mark in the printed list where the division is done .

82.3
Selecting text via instruction numbers

In the Error code table the instruction numbers to be used for specific error codes
are given.
504 PROGRAM RUN ERROR is missing, since the error code in this case is
calculated according to: Instr. no. =10 * error code. The table is scanned from the
top and downwards, and the first hit represents the wanted instruction number .
When scanning, the numbers marked with an F are not tested .

Example:
DC. W $506, $14FF, 5140

This line represent bits for the error codes :

506 SERVO ERROR 2 1400 to

506 SERVO ERROR 2 1499

but only the error codes 1401 to 1412 are used. 5140 is the instruction number.

If a text is shared by more than one comment instruction, the instruction numbers
are increased by one since . . .

The Error code table is a direct excerpt from the file where the table is stored in
the S3 system which explains the characters DC .W and $ (To make sure that the
information is correct) .

INSTALLATION
8:3


8.3
Test programs

The test programs for running the robot to its calibration positions are used to
verify that the robot calibration is correct (also see the description of the system
parameter Synchronization position) .

The programs are :

2000 for IRB 2000, calibration position 0 6000 for IRB 6000/2 .4100 calib.pos. 0
2001 for IRB 2000, calibration position 1 6001 for IRE 6000/2 .4100 1
2002 for IRB 2000, calibration position 2 6002 for IRB 6000/2 .4-100 2

2003 for IRB 2000, calibration position 3 6100 for IRE 6000/2 .4150 0
2004 for IRB 2000, calibration position 4 6101 for IRE 6000/2.4-150 1
2005 for IRB 2000, calibration position 5 6102 for MB 6000/2 .4150 2

3000 for IRB 3000, calibration position 0 6200 for IRE 600012.8-100 0
3001 for IRB 3000, calibration position 1 6201 for IRE 6000/2.8-100 1
3002 for IRB 3000, calibration position 2 6202 for IRE 6000/2.8-100 2

3003 for IRE 3000, calibration position 3 6300 for IRE 6000/3.0-75 0
3004 for IRB 3000, calibration position 4 6301 for IRE 6000/3.0-75 1
3005 for IRB 3000, calibration position 5 6302 for IRE 600013.0-75 2

3200 for IRB 3200, calibration position 0 6400 for IRB 60001S 3 .0-100 0
3201 for IRB 3200, calibration position 1 6401 for IRB 6000/S 3 .0-100 1
3202 for IRE 3200, calibration position 2 6402 for IRB 6000,S 3 .0-100 2

3203 for IRB 3200, calibration position 3 6500 for IRE 6000/2.4-120 0
3204 for IRB 3200, calibration position 4 6501 for IRB 6000/2.4120 1
3205 for IRE 3200, calibration position 5 6502 for IRE 6000/2.4-120 2

6600 for IRE 6000/2.25PE-75 0

6601 for IRB 6000/2.25PE-75 1
6652 for IRE 6000/2 .25PE-75 2

NOTE:
Block 10 = test program without external axis .
Block 20 = test program with external axis .

INSTALLATION S3
8 :4


* ****A**AAAAA ************ * ****************

TTL INO TPL
PAGE
*
*
* ! TABLE over errormetsage-number, code and !
* ! instruktion-number for the texts in RAM_TPL !
* ! Exception, !
* ! for ( 504 PROGRAM RUN ERROR 1-299 ) is the !
* ! instruktion-number = code-number * 10 (10-2990)
*
*
* $Message-number,$code,inst-no ( error message code)
*
*
INO TPL : DC .V $01,$0010,3000 (1 NOT ALLOWED COMMAND 10)
DC .V $01, SFFFF, 3010 (1 NOT ALLOWED COMMAND )
DC .V $03,$FFFF,3030 (3 DATA ERROR )
DC .V $04,$FFFF,3040 (4 INSTR NOT FOUND )
DC .V $05,$FFFF,3050 (5 PROGRAM MISSING )
DC .V $06,$FFFF,3060 (6 MEMORY FILLED UP )
DC .V $07,$FFFF,3070 (7 PROGRAM END )
DC .V $08,$FFFF,3080 (8 PROGRAM NUMBER OCCUPIED )
DC .V $09,$FFFF,3090 (9 INSTRUCTION NUMBER OVERFLOW )
*
DC .V $10,$0001,3110 (10 ADAPTIVITY ERROR 1)
DC .V $10,$0002,3120 (10 ADAPTIVITY ERROR 2)
DC .V $10,$0003,3130 (10 ADAPTIVITY ERROR 3)
DC .V $10,$0004,3140 (10 ADAPTIVITY ERROR 4)
DC .V $10,$0006,3160 (10 ADAPTIVITY ERROR 6)
DC .V $10,$0007,3170 (10 ADAPTIVITY ERROR 7)
DC .V $10,$0008,3180 (10 ADAPTIVITY ERROR 8)
*
DC .V $11,$0000,3220 (11 OUTSIDE WORKING AREA ) *
DC .V $11,$0014,3240 (11 OUTSIDE WORKING, AREA 14) Lasertrak
DC .V $11,$0020,3270 (11 OUTSIDE WORKING AREA 20)
DC .V $11,$0023 .3230 (11 OUTSIDE WORKING AREA 23)
DC .W $11,$0099,3250 (11 OUTSIDE WORKING AREA 99) *
DC .V $11,$OOFF,3260 (11 OUTSIDE WORKING AREA xx)
* 1
DC .V $13,$FFFF,4130 (13 ROBOT NOT SYNCRONIZED )
DC.V $14,$FFFF,4140 (14 AUTO MODE /KEY LOCK )
DC .V $15,$FFFF,4150 (15 SENSOR NOT DEFINED )
DC .V $16,$FFFF,4160 (16 SENSOR TYPE NOT ALLOWED )
DC .V $17,$FFFF,4170 (17 WRONG INSTRUCTION TYPE )
DC.V $18,$FFFF,4180 (18 INSTRUCTION NUMBER OCCUPIED )
DC .V $19,$FFFF,4190 (19 PROGRAM START )
DC .V $20,$FFFF,4200 (20 SELECT ROBOT CORDINATES )
DC .V $21,$FFFF,4210 (21 TCP NOT DEFINED )
DC .V $23,$FFFF,4230 (23 ALIGN ERROR )
DC .V $24,$FFFF,4240 (24 NOT DEFINED )
DC .V $25,$FFFF,4250 (25 INCOMPATIBLE OPTION )
*
DC .V $26,$0001,3310 (26 NOT ALLOWED/ FIXED TCP 1)
DC .V $26,$0002,3320 (26 NOT ALLOWED/ FIXED TCP 2) *
DC .V $26,$0003,3330 (26 NOT ALLOWED/ FIXED TCP 3)
DC .V $26,$0004,3340 (26 NOT ALLOWED/ FIXED TCP 4)
DC .V $26,$0005,3350 (26 NOT ALLOWED/ FIXED TCP 5)
DC .V $26,$0006,3360 (26 NOT ALLOWED/ FIXED TCP 6)
DC .V $26,$0007,3320 (26 NOT ALLOWED/ FIXED TCP 7) *
DC .V $26,$0008,3380 (26 NOT ALLOWED/ FIXED TCP 8)
*
DC .V $27,$FFFF,3500 (27 WARNING : WRONG INSTRUCTION )
*
DC .V $30,$FFFF,7130 (30 EXTERNAL AXES ALIGNED)


DC .W $31,$FFFF,7140 (31 GEARRATIO NOT DEFINED)

DC .V $32,$0001,7150 (32 CALIBRATION ERROR 1)
DC .W $32,$0002,7160 (32 CALIBRATION ERROR 2)
DC .W $32,$0003,7170. (32 CALIBRATION ERROR 3)
DC .W $33,$0001,7180 (33 NOT ALLOWED / EXTFRAME 1)
DC .W $33,$0002,7190 (33 NOT ALLOYED / EXTFRAME 2)
DC.W $33,$0004,7200 (33 NOT ALLOWED / EXTFRAME 4)'
DC .V $33,$0005,7210 (33 NOT ALLOWED / EXTFRAME 5)
DC .W $33,$0007,7220 (33 NOT ALLOWED / EXTFRAME 7)
DC .W $33,$0008,7230 (33 NOT ALLOWED / EXTFRAME 8)
*
DC .V $501,$FFFF,5010 (501 PARAM . MEMORY FAULT,RELOAD )
DC .W $502,$FFFF,5020 (502 PROGRAM MEMORY FAULT )
DC .W $503,$0001,5030 • (503 EMERGENCY STOP 01)
DC .V $503,$0002,5040 (503 WORKING AREA STOP 02)
* (For 504 PROGRAM RUN ERROR is inst-no = 10 * code)
DC .V $505,$PFFF,5050 (505 SERVO ERROR 1 8001) *
*
* 5090 (FINE) Tillaggstexter till 506-
* 5091 (COARSE) 11FF,12FF,20FF och 22FF
*
DC .V $506,$11FF,5110 (506 SERVO ERROR 2 llxx)
DC .V $506,$12FF,5120 (506 SERVO ERROR 2 12xx)
DC .V $506,$13FF,5130 (506 SERVO ERROR 2 l3xx)
DC .V $506,$14FF,5140 (506 SERVO ERROR 2 14xx)
DC .V $506,$15FF,5150 (506 SERVO ERROR 2 15xx)
DC .V $506,$16FF,5160 (506 SERVO ERROR 2 16xx)
DC .V $506,$17FF,5170 (506 SERVO ERROR 2 17xx)
DC .V $506,$18FF,5180 (506 SERVO ERROR 2 18xx)

DC .V $506,$20FF,5200 (506 SERVO ERROR 2 20xx) *

DC .V $506,$21FF,5210 (506 SERVO ERROR 2 21xx)
DC .V $506,$22FF,5200 (506 SERVO ERROR 2 22xx) *
DC .V $506,$23FF,5220 (506 SERVO ERROR 2 23xx) *
DC .V $506,$240F,5230 (506 SERVO ERROR 2 240x) *
DC .V $506,$5104,5300 (506 SERVO ERROR 2 5104)
DC .V $506,$5150,5060 (506 SERVO ERROR 2 5150)
DC .V $506,$51FF,5050 (506 SERVO ERROR 2 51xx) *
DC .V $506,$70PF,5050 (506 SERVO ERROR 2 70xx) *
DC .V $506,$80PF,5050 (506 SERVO ERROR 2 8Oxx)
DC .V $506,$9000,5310 (506 SERVO ERROR 2 9000)
*
DC .V $507,$0001,5400 (507 JOYSTICK ERROR 1)
DC .V $507,$0002,5410 (507 JOYSTICK ERROR 2)
*
DC .V $508,$0006,5460 (508 DISK MEMORY FAULT 6)
DC .V $508,$000F,5440 (508 DISK MEMORY FAULT x)
DC .W $50840010,5470 (508 DISK MEMORY FAULT 10)
DC .V $508,$0020,5500 (508 DISK MEMORY FAULT 20)
DC .W $508,$0021,5510 (508 DISK MEMORY FAULT 21)
DC .V $508,$0022,5530 (508 DISK MEMORY FAULT 22) *
DC .V $508,$0024,5530 (508 DISK MEMORY FAULT 24)
DC .W $508,$0026,5560 (508 DISK MEMORY FAULT 26) *
DC .V $508,$0027,5570 (508 DISK MEMORY FAULT 27)
DC .W $508,$0028,5580 (508 DISK MEMORY FAULT 28)
DC .W $508,$0029,5590 (508 DISK MEMORY FAULT 29)
DC .W $508,$0030,5600 (508 DISK MEMORY FAULT 30)
DC .W $508,$0031,5610 (508 DISK MEMORY FAULT 31)
DC .W $508,$0032,5620 (508 DISK MEMORY FAULT 32)
*
DC .W S509,$0000,5800 (509 SYNC ERROR ) *
DC .V $509,$0016,5760 (509 SYNC ERROR 16)
DC .W $509,$0017,5770 (509 SYNC ERROR 17)
DC .W $509,$1029,3230 (509 SYNC ERROR 1029)
DC .W $509,$10FF,3260 (509 SYNC ERROR lOxx)






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DC . V $543,$0011,4460 (543 SYNRONIZE 11) Lasertrak *

DC . V $543,$0012,4460 (543 SYNRONIZE 12) Lasertrak *
DC .V $543,$0013,6890 (543 SYNRONIZE 13) Lasertrak
DC . V $543,$0015,6900 (543 SYNRONIZE 15) Lasertrak
DC . V $543,$0016,6900 (543 SYNRONIZE 16) Lasertrak *
DC .V $543,$0017,6900 (543 SYNRONIZE 17) Lasertrak *
DC . V $544,$0030,6930 (544 SEAM NOT FOUND 30)
DC .V $544,$0031,6940 (544 SEAM NOT FOUND 31) I
DC .V $544,$0040,6950 (544 TRACK ERROR 40)
DC .V $544,$0041,6960 (544 TRACK ERROR 41)
DC . V $544,$0042,6970 (544 TRACK ERROR 42)
DC .V $544,$0043,6980 (544 TRACK ERRPR 43)
DC .V $544,$0044,6990 (544 TRACK ERROR 44)
DC .V $545,$0002,7000 (545 CALIBRATION ERROR 2)
DC .V $545,$0013,7010 (545 CALIBRATION ERROR 13)
DC .V $545,S0045,7020 (545 CALIBRATION ERROR 45)
DC . V $545,$0046,3220 (545 CALIBRATION ERROR 46) *
DC .V $545,$0047,7040 (545 CALIBRATION ERROR 47)
DC .V $545,$0048,7110 (545 CALIBRATION ERROR 48)
DC .V $545,$0049,7120 (545 CALIBRATION ERROR 49)
DC .V $545,$0050,7050 (545 CALIBRATION ERROR 50)
DC .V S545,$0051,7060 (545 CALIBRATION ERROR 51)
DC .V $545,$0053,7070 (545 CALIBRATION ERROR 53)
DC .V $545,$0060,7080 (545 CALIBRATION ERROR 60)
DC .V $547,$FFFF,6770 (547 HYDRAULIC PRESSURE ERROR)
DC .V $548,$FFFF,6780 (548 ENABLE TWO CHAIN FAULT)
*
DC .V $550,$0001,6810 (550 WELD ERROR 1)
DC .V $550,$0002,6820 (550 WELD ERROR 2)
DC .V $551,$FFFF,6830 (551 WELD ERROR TIMER )
DC .V $552,$FFFF,6840 (552 WELD ERROR CURRENT )
DC .V $553,$FFFF,6850 (553 WELD ERROR FLOW )
DC . V $554,$FFFF,6860 (554 WELD ERROR TEMP )
DC .V $555,$FFFF,6870 (555 WELD ERROR ENABLE MOVE )
DC .V $567,$FFFF,4470 (567 ERROR / SAFETY BOARD)
DC .V $570,$FFFF,4480 (570 ERROR/ MEASURE SYSTEM AXES 1-6)
DC .V $571,$FFFF,4490 (571 ERROR/ MEASURE SYSTEM AXIS 7)
DC .V $572,$FFFF,4500 (572 ERROR/ MEASURE . SYSTEM AXES 8-12)
DC .V $573,$FFFF,4510 (573 ERROR/ MEASURE SYSTEM AXES 7-12)
DC .V $589,$FFFF,4520 (589 RECTIFIER MISSING) 1
DC .V $590,$FFFF,4530 (590 RECTIFIER WRONG TYPE)
DC .V $591,$FFFF,4540 (591 DRIVE SYSTEM ERROR)
DC .V $592,$FFFF,4550 (592 RECTIFIER OUTPUT VOLTAGE HIGH)
DC .V $593,$FFFF,4560 (593 RECTIFIER TEMP . HIGH)
DC .V $594,$FFFF,4570 (594 SHUNT RESISTANCE TEMP . HIGH)
DC . V $595,$FFFF,4580 (595 DRIVE UNIT MISSING)
DC .V $596,SFFFF,4590 (596 DRIVE UNIT WRONG TYPE)
DC .V $597,$FFFF,4600 (597 DRIVE UNIT CURRENT HIGH)
DC .V $598,$FFFF,4610 (598 DRIVE UNIT CURRENT ERROR)
DC .V $599,$FFFF,4620 (599 DRIVE UNIT TEMP . HIGH)
DC .V $602,$FFFF,4640 (602 VISION SYSTEM ERROR)
DC .V $700,$FFF`,4650 (700 WARNING NEV RESOLVER DATA LOADED)
DC .V $4000,0,0
*
 Maintenance
~N=~0~v
IRB 3000/3200
~~~~~~~~~~~~~~~~~

3HAB 0005-12
May 1

AL I It
ABB Robotics Products
Pw*lplp
ASEA BROWN BOVERI
The information in this document is subject to change without notice and should not be construed as a
commitment by ABB Robotics Products AB . ABB Robotics Products AS assumes no responsibility for any
errors that may appear in this document .

In no event shall ABB Robotics Products AB be liable for incidental or consequential damages arising from
use of this document or of the software and hardware described in this document

This document and parts thereof must not be reproduced or copied without ABB Robotics Products AB's
written permission, and the contents thereof must not be imparted to a third party nor be used for any
unauthorized purpose . Contravention will be prosecuted .

Additional copies of this document may be obtained from ABB Robotics Products AB at its then current
charge.

® ABB Robotics Products AB 1993

Article number: 3HAB 0005-12

Issued: May 1993

ABB Robotics Products AB

S-721 68 Vasteris
Sweden
 MAINTENANCE

Table of Contents

Chapter Page

1. General 3

2. Large diameter bearing 3

3. Mechanical stop, axis 1 3

4. Oil change, axes 1, 2 and 3 4

5. Oil change, axis 4 6

6. Oil change, axes 5 and 6 7

6.1 IRB 3000
6.2 IRB 3200

7. Balancing system 8

8. Oil level in gear boxes 9

9. Accumulator unit on robot 9

10. Maintenance table 10

Maintenance IRB 3000/3200

1
Maintenance MB 3000/3200
2


General
The industrial robots IRB 3000 and IRB 3200 will require a minimum of maintenance
during normal operating conditions. The robot will in most applications work in harsh
environments . Some routine checks and service work have to be carried out to enable the
robot system to work without malfunctions during several years in accordance with the
technical specification. The routine maintenance work is described in condensed form in
the subsequent pages. Where special work or dismounting procedures may be required,
reference is made to the chapter concerned in the document Mechanical Repair, IRB
3000/3200. In the Mechanical Repair are also the special tools and lifting instructions
presented, required for the specified maintenance .

Moreover, the same stringent safety regulations are in force, as during normal service
work . The applicable safety regulations shall be followed to the last letter at each
maintenance activity, as specified in the Safety Manual in the Product Manual, IRB
3000/3200 .

2. Large Diameter Bearing

Reference is made to foldout no 2 .

Service Intervals

The large diameter bearing <1 :21> shall be greased as follows :

• greasing after a maximum of 2 000 hours of operation or after one year (which ever
comes first) in two nipples <1 ;22>.
• minimum 25 grams of grease per nipple.

NOTE! The nipples with black caps shall not be filled with grease.

• during the greasing axis 1 must be turned ±90°.

• type of grease:
- ABB art. no. 11714013-301, quality 7 1401-301
- ESSO Beacon EP 2
- Shell Alvania EP Grease
- SKF Grease LGEP 2
- BP Energrease LS - EP 2

3. Mechanical Stop Axis 1

Reference is made to foldout no 2 .

Service Interval

After 2 000 hours of operation or after one year (which ever comes first) :
• Check the stop rod <1 :18> . If damaged, replace the rod .
• Note that the stop rod has to be exchanged after each time the robot has run
into mechanical stop on axis 1 .


4. Oil Change Gearboxes 1, 2 and 3

Reference is made to foldouts nos. 2 and 3.

These gear boxes are lubricated for life with liquid grease and no check of level is
necessary.

Floarmounting Inverted mounting

The amount of grease is : Axis L 7.3 kg (8.4 litre) 7.3 kg (8 .4 litre)
Axis 2: 4.5 kg (5.2 litre) 8.5 kg (9 .8 litre)
Axis 3: 4.5 kg (5.2 litre) 8.5 kg (9 .8 litre)

Figure 4.1 Gear box 1, floor mounting

Maintenance IRB 3000/3200

4
 Grease filling hole, floor mounted

Drain hole

Figure 4,3
Gear box 2, floor mounting

Grease filling hole, floor mounted

Drain hole

Figure 4.5
 Gear box 3, floor mounting
5. Oil Change Gearbox 4
Reference is made to foldout no 6 .

Service Interval

• The oil shall be changed after 2 000 hours of operation or after the first year
(depending on which will occur first) and then every 5 year .
• The oil is drained through the lower drain plug hole (floor mounted robot : hole
A, inverted robot: hole B). See figure below.

Refilling of new oil is carried out as follows :

• The oil is filled through the upper drain plug hole (floor mounted robot : hole B,
inverted robot: hole A), in level with the hole .

Volume approx . 1 litre. See figure below-

0 Type of oil: ABB :s art no. 11712016-604, which corresponds to :

• BP: Energol GR-XP 320

• Castrol: Alpha SP 320
• Esso: Spartan EP 320
• Klnber. Lamora 320
• Optimal: Optigear 5180
• Shell : Omala Oil 320
• Texaco: Meropa 320

`J


6. Oil Change Gearboxes 5 and 6

6.1 IRB 3000

Reference is made to foldout no 6 .

Service Interval

• The oil is changed after 2 000 hours of operation or after the first year (which ever
comes first) and then every 5 year
• The oil is drained through the drain plugs on the wrist. The upper arm tubular shall
be turned to drain the oil (brake axis 4 is released) .
• The magnetic drain plugs shall be cleaned during the oil change.

Refilling of new oil is carried out as follows :

• Fill 0.6 litre oil in the holes on the wrist housses (one hole on each wrist house) .
• Type of oil: Same as for gear box 4.

• The oil volume for axis 5 and 6 totally, is 1 .2 litre .

6.2 IRB 3200

Reference is made to foldout no 6 .

Service Interval

• The oil is changed after 2 000 hours of operation or after the first year (depending on
which will occur first) and then every 5 year
• The magnetic drain plugs shall be cleaned during the oil change.

Refilling of new oil is carried out as follows :

• The upper arm is positioned horizontally.
• Axis 4 is turned ± 90° by control and filling of axes 5 and 6 . The entire area is to be
filled with oil. Open both plugs and press in the oil from below, put the upper plug
in when the oil has reach it and turn the axis around to put the other plug in. The
cover must not be dismounted . If so is done the adjustment . of the wrist's
gear is spoiled.

• The oil volume of axis 5 and 6, total is 0 .5 litre.



7. Balancing System
Reference is made to foldout no 1 <4:1> .

Service Interval

A control shall be carried out after a maximum of 2 000 hours of operation or after
one year, which ever comes first .

• Control the pressure on the gauge

IRB 3000 MB 3200

Ambient temp. Press Press
°C (± 13 bar) (.}1S bar)
Floor mounting 10 107 102 .5
20 110 105 .5
30 113 108 .5
40 116 111 .5

Inverted mounting 10 98 92.5

20 101 95 .5
30 104 98.5
40 106 101 .5

• The lower arm shall be vertically positioned during the control.

• The balancing system shall have adopted the ambient temperature .
• If the pressure is lower than the above specified values, nitrogen may be refilled
at some single occasion.

If the robot is floor mounted , the following requirements shall be fulfilled before
refilling nitrogen :
The pressure fluctuation shall be less than 5 bar if the lower arm is moved
from vertical position about 20° forward or backwards.
The oil level in the drain tank <211:2> is less than 10 mm .

The oil level is controlled by disconnecting the hose for leakage oil from the tank
and inserting a thin stick in the hole. When the hose is reconnected, the cylinder
shall be extracted with the lower arm positioned in its rearmost position .

• If the robot is mounted in an inverted position , the following requirements must

be fulfilled
- The pressure fluctuation shall be less than 5 bar when the lower arm is
moved from the rear end position and about 20° downwards .

• If the above requirements are not fulfilled the balancing system shall . be
replaced as described in the Mechanical Repair, IRB 300013200 .
• Refill shall be carried out in accordance with the Mechanical Repair, IRE
3000/3200.


Oil Level in Gearboxes

Service Interval

After a maximum of 2 000 hours of operation or after one year, which ever comes first:

• Check that the oil level in each gearbox is at the level specified in sections 5 and
6 for oil change axes 1-4 .
• Check the oil level in the wrist as follows (foldout 6) :
Move the upper arm in a horizontal position
Turn axis 490° from sync position in any direction
Dismount the drain plug and clean it .
Check that the oil level is 30 mm ±5mm under the contact surface of the drain
plug.
Mount the drain plug, turn axis 4180° and carry out the same control of
the other wrist housing.

Tilt housing:
Turn axes 5 until the turn disc's flange is parallel with the floor level
Open the oil plug and check that the oil is in level with the plug hole's lower
edge.

9. Batted on robot
The robot accumulator unit is to be replaced after 5 years .

When replacing the accumulator unit, the system may be put in the MOTOR OFF
mode.
The unit is mounted under the axis 2 gearbox cover and is replaced by disconnecting
the connector on the gearbox 2 side of the robot and then cutting the straps holding the
accumulator unit.
10. Maintenance Table

Activity Operation Time

2000 hrs or 5 year

1 year which ever
comes first

LARGE DIAM BEARING

Greasing X

MECH STOP AXIS 1

Check X

GEAR 4
Oil Change 1) X X

GEAR 5 AND 6
Oil Change 1) X X

BALANCING SYSTEM
Check X

GEARBOXES 1-6
Check of Oil Levels X

MEASUREMENT SYSTEM
Replace of battery on manipulator X

1) The first oil change.