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6 FlexPLP addin application GUI

6.1 Introduction

Overview

FlexPLP addin is an additional software package running in the ABB IRC5 Robot
system and design to operate the FlexPLP Product. It will be run under ABB robot
system. For more information of installing addin in RobotStudio, see

Operating

manual - RobotStudio

. For more information of supported system configuration,

see

FlexPLP addin Release Note

The FlexPLP addin offers a user-friendly way to achieve common commissioning
tasks such as Calibration and Shim offsets management.

Product manual - FlexPLP IRPLP 220

3HAW050041018-001 Revision: C

6 FlexPLP addin application GUI

6.1 Introduction

Summary of Contents for FlexPLP IRPLP 220

Page 1: ...ROBOTICS Product manual FlexPLP IRPLP 220 ...

Page 2: ...Trace back information Workspace Systems version a10 Checked in 2019 04 12 Skribenta version 5 3 012 ...

Page 4: ... persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtained from ABB Original instructions ...

Page 5: ...mergency stop 30 1 6 Safety related instructions 30 1 6 1 Safety signals in the manual 33 2 Product description 33 2 1 Product overview 34 2 2 Terminology 35 2 3 Principle structure 35 2 3 1 Modularity 37 2 3 2 Axes combinations 38 2 3 3 Driving types 39 2 3 4 Vertical axis mounting and cable chain 40 2 4 Performances 40 2 4 1 FlexPLP IRPLP 220 overall specifications 41 2 4 2 FlexPLP IRPLP 220 mot...

Page 6: ... of the FlexPLP addin 94 6 2 1 Soft Calibration 105 6 2 2 Shim Offset 113 7 Maintenance 113 7 1 Introduction 115 7 2 Maintenance schedule 116 7 3 Inspection 117 7 4 Lubrication 119 7 5 Driving belt tension check adjustment and replacement 123 7 6 SMB Battery pack replacement 125 7 7 Repair information 127 8 Decommissioning 131 9 Reference information 131 9 1 Introduction 132 9 2 Unit conversion 13...

Page 7: ...zed in the following chapters Content Chapter Safety information that must be read through before performing any installation or service work on the FlexPLP IRPLP 220 Contains general safety aspects as well as more specific inform ation about how to avoid personal injuries and damage to the product Safety Specifications and characteristics of the FlexPLP IRPLP 220 Product description Information r...

Page 8: ... following updates are done in this revision Minor editorial changed Calibration point without calibration index system removed Specification of rack pinion updated Spare parts updated Edit Motor Calibration Offset added Number of the motions changed A Changes made in FlexPLP addin is applied to improve the efficiency of calibration and setting offset procedures see FlexPLP addin application GUI o...

Page 9: ...dures lists of tools safety standards Parts list Foldouts or exploded views Circuit diagrams or references to circuit diagrams Technical reference manuals The technical reference manuals describe the manipulator software in general and contain relevant reference information RAPID Overview An overview of the RAPID programming language RAPID Instructions Functions and Data types Description of all R...

Page 10: ...ct with the product that is production cell operators programmers and trouble shooters The group of manuals includes Emergency safety information General safety information Getting started IRC5 and RobotStudio IRC5 with FlexPendant RobotStudio Introduction to RAPID Trouble shooting for the controller and manipulator 10 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 20...

Page 11: ...de references to equipment spare parts tools and so on required for the different actions in the procedure The equipment is marked with italic text in the procedures and completed with a reference to the section where the equipment is listed with further information i e article number dimension The denomination in the procedure for the component or attachment point corresponds to the denomination ...

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Page 13: ...re found in General safety information on page 14 specific safety information pointed out in the procedure at the moment of the danger How to avoid and eliminate the danger is either detailed directly in the procedure or further detailed in separate instructions found in Safety related instructions on page 30 Product manual FlexPLP IRPLP 220 13 3HAW050041018 001 Revision C Copyright 2016 2018 ABB ...

Page 14: ...rt from the built in safety functions the machine controller is also supplied with an interface for the connection of external safety devices Via this interface an external safety function can interact with other machines and peripheral equipment This means that control signals can act on safety signals received from the peripheral equipment as well as from the machine controller Limitation of lia...

Page 15: ...ones which have to be crossed before admittance must be set up in front of the FlexPLP s working space Light beams or sensitive mats are suitable devices Turntables or the like should be used to keep the operator out of the FlexPLP s working space The axes are affected by the force of gravity when the brakes are released In addition to the risk of being hit by moving FlexPLP parts you run the risk...

Page 16: ...as parts are removed e g secure the vertical axis with fixtures if removing driving belt of ho rizontal axes Cabling Description Safety risk CAUTION The cable packs are sensitive to mechanical damage They must be handled with care especially the connect ors in order to avoid damaging them Cable packs are sensitive to mechanical damage Gearboxes and motors Description Safety risk CAUTION Whenever p...

Page 17: ...l operation valves Safe design End effectors must be designed so that they retain workpieces in the event of a power failure or a disturbance of the controller CAUTION Ensure that an end effectors is prevented from dropping a workpiece if such is used Product manual FlexPLP IRPLP 220 17 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 1 Safety 1 3 2 Safety risks related to ...

Page 18: ...eumatic and hydraulic systems must be released before starting to repair them Safe design Gravity may cause any parts or objects held by these systems to drop Dump valves should be used in case of emergency Shot bolts should be used to prevent tools and so on from falling due to gravity 18 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 1 S...

Page 19: ...ce must only be carried out by qualified personnel who are familiar with the entire installation as well as the special risks associated with its different parts Extraordinary risks If the working process is interrupted extra care must be taken due to risks other than those associated with regular operation Such an interruption may have to be rectified manually Product manual FlexPLP IRPLP 220 19 ...

Page 20: ...DC Note Capacitors The drive unit 700 VDC The drive system power supply 230 VAC The service outlets 115 230 VAC The customer power supply 230 VAC The power supply unit for tools or special power supply units for the machining process The external voltage connected to the control cabinet remains live even when the device is disconnected from the mains Additional connections Voltage related risks Fl...

Page 21: ... released at maximum speed Determine the maximum speed from the maximum velocities of the FlexPLP device axes and from the position at which the FlexPLP device is working in the work cell see Performances on page 40 and Dimensions on page 42 Also consider the maximum possible impact caused by a breaking or malfunctioning rotating tool or other device fitted to the FlexPLP Product manual FlexPLP IR...

Page 22: ...a CARBON DIOXIDE CO2 extinguisher in the event of a fire in the FlexPLP device or controller 22 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 1 Safety 1 4 2 Fire extinguishing ...

Page 23: ...d in the FlexPLP IRPLP 220 product manual The FlexPLP axes may be moved by using an crane or similar Increased injury Before releasing the brakes make sure that the weight of the axes do not increase the pressure on the trapped person further increasing any injury Product manual FlexPLP IRPLP 220 23 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 1 Safety 1 4 3 Emergency r...

Page 24: ...axis to a position where the combined weight of the FlexPLP axes and any load is maximized max static load 2 Switch the motor to the MOTORS OFF position with the Operating mode selector on the controller 3 Check that the axis maintains its position If the FlexPLP device does not change position as the motors are switched off then the brake function is adequate 24 Product manual FlexPLP IRPLP 220 3...

Page 25: ...ed inoperative in any way During programming and testing the enabling device must be released as soon as there is no need for the FlexPLP device to move The programmer must always bring the Teach Pendant Unit with him her when entering the FlexPLP s working space This is to prevent anyone else taking control of the FlexPLP device without the programmer knowing Do not change Transm gear ratio or ot...

Page 26: ... s when the operating mode selector is in position 200 mm s This should be the normal position when entering the working space The position 100 full speed may only be used by trained personnel who are aware of the risks that this entails Pay attention to the moving axes of the device Keep a distance to the axes Also be aware of any danger that may be caused by tools or other devices mounted on the...

Page 27: ...ansparent sticker over the standard label with text added in a fourth language Drawings detailing the design text figure dimensions of the standard labels can be ordered from ABB Notice that each label is identified according to the article number located in the lower corner of the label Example of transparent sticker The figure below shows the location of the free space on one of the labels on th...

Page 28: ...ained When completed power is disconnected The default setting is uncontrolled stop However controlled stops are preferred since they minimize extra unnecessary wear on the device and the actions needed to return the FlexPLP system back to production Please consult your plant or cell documentation to see how your FlexPLP system is configured Note The emergency stop function may only be used for th...

Page 29: ...Pendant and on the controller cabinet on the Control Module on a Dual Cabinet Controller There can also be other types of emergency stops on your device consult your plant or cell documentation to see how your FlexPLP system is configured Product manual FlexPLP IRPLP 220 29 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 1 Safety 1 5 1 What is an emergency stop Continued ...

Page 30: ... if the instructions are not followed that can lead to serious injury possibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc WARNING The electrocution or electrical shock symbol indic ates electrical hazards w...

Page 31: ...e symbols alert you to important facts and condi tions NOTE Tip symbols direct you to specific instructions where to find additional information or how to perform a certain operation in an easier way TIP Product manual FlexPLP IRPLP 220 31 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 1 Safety 1 6 1 Safety signals in the manual Continued ...

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Page 33: ...ust be installed on a device or tooling base Operating system FlexPLP IRPLP 220 functions with the IRC5 controller and FlexPLP control software RobotWare which supports every aspect of the FlexPLP system such as motion control development and execution of application programs communication and so on See Product specification Controller IRC5 with FlexPendant External wiring FlexPLP IRPLP 220 uses c...

Page 34: ... Upper surface of one axis carriage onto which another axis or a tooling can be mounted Mounting surface Flange frame on both sides of single PLP unit can be used as mounting surface for clamping The serial measurement board SMB primarily gathers resolver data from the motors This data is used to measure the speed and position of each axis It also stores a number of data pertaining to each unit Th...

Page 35: ...ody and fixed carriage Vertical axis A Second horizontal axis B The first horizontal axis can be equipped with ballscrew or with rack pinion First horizontal axis C An axis with rack pinion is made with two or more combined modules and can be used to carry one or several carriages which can each travel up to 2 100 mm Used to assemble the vertical axis and guide cables Interface bracket D Continues...

Page 36: ...220 Cable chain E Power and resolver cable connectors are inside Each axis has a connection box installed Connection box F 36 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 2 Product description 2 3 1 Modularity Continued ...

Page 37: ...axis or the vertical axis alone For first horizontal axis there can be one or more carriages or extended stroke by combined with additional module Contact ABB if combined version is needed xx1800002107 Product manual FlexPLP IRPLP 220 37 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 2 Product description 2 3 2 Axes combinations ...

Page 38: ...08 Ballscrew Rack Pinioni Specification Vertical axis Secondhorizont al axis First horizontal axis First horizontal axis 190 mm 190 mm 190 mm 990 mm Available strokes mm 270 mm 270 mm 270 mm 1 150 mm 350 mm 350 mm 350 mm 1 630 mm 430 mm 430 mm 430 mm 2 110 mm 510 mm 510 mm 510 mm 590 mm 590 mm 670 mm 1 to 3 Number of axis i In option Rack Pinion drive type for first horizontal axis up to 2 110 mm ...

Page 39: ...oling flange plate for the top flange xx1800002109 The cable chain of FlexPLP IRPLP 220 axes can be mounted both on left and right side If the connector is not moving there is no need to assemble the cable chain However for second horizontal axis and vertical axis the mounting method of cable chain should consider the first horizontal axis cable chain mounting method for cables routing xx180000211...

Page 40: ...mm 510 mm 590 mm or 670 mm 990 mm 1 150 mm 1 630 mm 2 110 mmi Stroke 0 025 mmii 0 025 mmii 0 025 mmii 0 025 mmii Repeatability 200 mm s 200 mm s 200 mm s 200 mm s Maximum speed 0 6 s 0 6 s 0 6 s 0 6 s Acceleration time 220 kg 220 kg 220 kg 220 kg Static load 220 kg 220 kg 220 kg 220 kg Dynamic load IP54 IP54 IP54 IP54 Protection class i Customizable with increment step of 480 mm ii Per ISO9283 40 ...

Page 41: ...pecifications of the motor used on FlexPLP IRPLP 220 Performance Specification 750 W Power 3000 rpm Nominal speed 400 V AC Voltage 2 39 Nm Torque 24 V Brake voltage 2 39 Nm Brake torque Product manual FlexPLP IRPLP 220 41 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 2 Product description 2 4 2 FlexPLP IRPLP 220 motor specifications ...

Page 42: ...r 2 110 mm xx1800002111 FlexPLP IRPLP 220 one vertical axis The dimensions of FlexPLP IRPLP 220 one vertical axis depend on its stroke The dimension of the vertical axis body moving is same with vertical axis carriage moving when they are at low position The figure below shows the dimensions of one vertical axis at low position S Stroke Continues on next page 42 Product manual FlexPLP IRPLP 220 3H...

Page 43: ...430 mm or 510 mm xx1800002112 xx1800002113 Product manual FlexPLP IRPLP 220 43 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 2 Product description 2 5 1 Dimensions 1 axis FlexPLP IRPLP 220 Continued ...

Page 44: ...one vertical axis The dimensions of FlexPLP IRPLP 220 unit depend on its axes strokes The dimensions of FlexPLP IRPLP 220 unit with vertical axis body moving is same with vertical axis carriage moving when they are at low position The figure below shows the dimensions of a two axes FlexPLP IRPLP 220 with vertical axis carriage moving in low position with S1 Stroke of the first horizontal axis S1 1...

Page 45: ... with vertical axis carriage moving in low position with S1 Stroke of the first horizontal axis S1 190 mm 270 mm 350 mm 430 mm 510 mm 590 mm or 670 mm Continues on next page Product manual FlexPLP IRPLP 220 45 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 2 Product description 2 5 2 Dimensions 2 axis FlexPLP IRPLP 220 Continued ...

Page 46: ... 190 mm 270 mm 350 mm 430 mm or 510 mm xx1800002116 46 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 2 Product description 2 5 2 Dimensions 2 axis FlexPLP IRPLP 220 Continued ...

Page 47: ...mm 590 mm or 670 mm S2 Stroke of the second horizontal axis S2 190 mm 270 mm 350 mm 430 mm 510 mm or 590 mm S3 Stroke of the vertical axis S3 190 mm 270 mm 350 mm 430 mm or 510 mm xx1800002117 The figure below shows the unit dimensions of a 3 axis FlexPLP IRPLP220 with vertical axis body moving with S1 Stroke of the first horizontal axis S1 190 mm 270 mm 350 mm 430 mm 510 mm 590 mm or 670 mm S2 St...

Page 48: ... 190 mm 270 mm 350 mm 430 mm or 510 mm xx1800002118 48 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 2 Product description 2 5 3 Dimensions 3 axis FlexPLP IRPLP 220 Continued ...

Page 49: ...4 kg 430 mm Ballscrew 89 kg 510 mm Ballscrew 95 kg 590 mm Ballscrew 99 kg 670 mm Ballscrew 118 kg 990 mm Rack Pinion 206 kg 1 150 mm Rack Pinion 324 kg 1 630 mm Rack Pinion 470 kg 2 110 mm Rack Pinion 33 kg 190 mm Interface bracket 37 kg 270 mm Interface bracket 39 kg 350 mm Interface bracket 43 kg 430 mm Interface bracket 46 kg 510 mm Interface bracket Product manual FlexPLP IRPLP 220 49 3HAW0500...

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Page 51: ...m the installation 1 Specified in Unpacking and accept ance on page 52 Make sure that FlexPLP has not been damaged by visual inspection 2 Specified in Weight on page 49 Make sure that the lifting device to be used is di mensioned to handle the weight of FlexPLP 3 When these prerequisites have been met FlexPLP may be taken to its storage or installation site 4 Product manual FlexPLP IRPLP 220 51 3H...

Page 52: ...ated by impurities during the transport clean them with a clean lint free cloth Identification plate To identify the delivery read the identification plates and compare them to the delivery note There is one identification plate per axis which displays the axis assembly drawing number the serial number and the weight The serial number is an alpha numerical combination of the following types IRPLP2...

Page 53: ...nd on the sides of FlexPLP IRPLP 220 xx1800002119 Product manual FlexPLP IRPLP 220 53 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 3 Unpacking and handling 3 2 Unpacking and acceptance Continued ...

Page 54: ...g straps rated for a minimum of 400 kg Lifting straps rated for a minimum of 400 kg 3 CAUTION Only use straps for lifting FlexPLP Chains could damage FlexPLP Lifting the FlexPLP Use lifting straps to lift FlexPLP with vertical axis by lifting the interface bracket Tighten the eye bolts A to the unit as shown on the following picture xx1800002122 Continues on next page 54 Product manual FlexPLP IRP...

Page 55: ...arriages of the horizontal axis must be at mid stroke and the vertical axis must be in low position Lifting the Interface bracket Use lifting straps to lift the interface bracket Product manual FlexPLP IRPLP 220 55 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 3 Unpacking and handling 3 3 Handling lifting Continued ...

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Page 57: ...e 54 Handling equipment Specified in Standard toolkit on page134 Standard toolkit Specified in Special tools on page 135 Other tools and procedures may be required See references to these procedures in the step by step instructions below Bolts and screws and tightening torques Specified in Bolt screws tightening torques on page 133 Product manual FlexPLP IRPLP 220 57 3HAW050041018 001 Revision C C...

Page 58: ...n be mounted on it Mounting surface of FlexPLP IRPLP 220 carriage B Note FlexPLP IRPLP 220 must be mounted on a machined flat surface Carefully check the work area of FlexPLP IRPLP 220 before setting the system into service Make sure that the area is free of all personnel when the unit moves Also check that no object is located on the cover plates of FlexPLP IRPLP 220 WARNING Cables and pipes must...

Page 59: ... figures below show the countersunk and dowel holes prepared in the base body of the horizontal axis The unit must be secured with socket head hex screws M8 DIN 7984 and two 8 mm dowel pins The table below gives the detail numbers of holes and dimensions depending on the strokes N x M No x mm Number of countersunk holes Pin holes dis tance L mm Body length L0 mm Stroke mm 1x80 mm 8 240 mm 480 mm 1...

Page 60: ...N x M No x mm No of Ø20 holes Length L2 mm Length L1 mm Length L mm Length L0 mm Stroke mm 1x80 mm 6 0 mm 200 mm 240 mm 470 mm 190 mm 1x80 mm 6 0 mm 240 mm 320 mm 550 mm 270 mm 1x160 mm 6 0 mm 280 mm 320 mm 630 mm 350 mm 1x160 mm 8 240 mm 200 mm 400 mm 710 mm 430 mm 1x160 mm 8 240 mm 240 mm 480 mm 790 mm 510 mm 1x160 mm 8 240 mm 280 mm 560 mm 870 mm 590 mm 2x160 mm 8 320 mm 280 mm 640 mm 950 mm 67...

Page 61: ...or plate xx1800002126 Product manual FlexPLP IRPLP 220 61 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissioning 4 2 2 Mounting surface fastening of the FlexPLP IRPLP 220 to the floor plate Continued ...

Page 62: ...tomer equipment xx1800002127 For vertical axis the mounting surface for customer equipment has another option where the payload is mounted on the flange The flange includes an area the shadowed area in the figure below where the holes can be drilled according to the customer requirements xx1800002128 62 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All right...

Page 63: ... the system has more than one unit or additional axes then it is needed to select which mechanical unit to jog when using the joystick Each mechanical unit that can be jogged is represented in the mechanical units list The name of the unit is defined in the system configuration Each unit also has a symbol that is used in the Status bar There are three ways to select mechanical unit Using the Quick...

Page 64: ...ntil you select another unit even if you close the Jogging window xx1800002131 Jog axis by axis Jog the linear axis by Joystick notice the Joystick Directions The Joystick Directions area shows how joystick axes correspond to the selected coordinate system s axes The all axes of PLP can be jogged manually using the Continues on next page 64 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revisi...

Page 65: ...tick is deflected for one or more seconds a sequence of steps at a rate of 10 steps per second will be performed as long as the joystick is deflected In default mode no increment applies and the axis moves continuously when the joystick is deflected There are three ways to select the increment size Using the Quickset menu increments Continues on next page Product manual FlexPLP IRPLP 220 65 3HAW05...

Page 66: ...nt size toggle between no increments and the increment size you previously selected in the Jogging window xx1800002134 Using the Jogging window on the ABB menu Continues on next page 66 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissioning 4 2 4 Jogging axes of a unit with FlexPendant Continued ...

Page 67: ...2135 Choose between small medium or large increments You can also define your own increment movement sizes Product manual FlexPLP IRPLP 220 67 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissioning 4 2 4 Jogging axes of a unit with FlexPendant Continued ...

Page 68: ...on Action As it is necessary to jog the first horizontal axis carriage to tighten all the screws you must pre pare the equipment controller cables SMB box necessary to control the unit See Cabling on page 16 1 xx1800002136 Remove the cover plate B of the first horizontal axis by loosening its six M5x10 Class 8 8 fixing screws A 2 xx1800002137 Remove the cover plate by sliding it from one end of Fl...

Page 69: ... holes and pin holes of the base body 5 xx1800002139 Secure the first horizontal axis of FlexPLP IRPLP 220 by installing the following fastening parts on the basement body the two dowel pins Ø8 mm A and eight M8 screws with lock washer B 6 Reinstall the first horizontal axis cover 7 Product manual FlexPLP IRPLP 220 69 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Insta...

Page 70: ...0 integrates an external harness of one power cable and one resolver cable for the control of customer equipment Specification Quantity Power cable with M16 connector 1 Resolver cable with M16 connector 1 Read Safety on page 13 before performing any service work 70 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissio...

Page 71: ... C having 2 types 6 axis type connecting IRC5 s XS 1 robot power connection of single cabinet or A4 X1 robot power connection of drive module 3 axis type connecting IRC5 s XS 7 power connection for external axis of single cabinet or A4 X7 power connection for external axis of drive module SMB Box D having 3 types 1 3 or 6 axes Equipped with brake release trigger and back up battery FlexPLP IRPLP 2...

Page 72: ...er cable B Floor power cable C SMB Box D FlexPLP IRPLP 220 resolver cable E FlexPLP IRPLP 220 power cable F 72 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissioning 4 3 2 Control architecture Continued ...

Page 73: ...DU up to three drive units For example a 3 axis FlexPLP IRPLP 220 should not have two axes controlled by the MDU and one axis controlled by one of the ADU Configurations fully occupied drive module Below are all the configurations in which all of the axes of one drive module are occupied PLP Additional Drive Units Main Drive Unit Drive 9 Drive 8 Drive 7 Drive 6 Drive 5 Drive 4 Drive 3 Drive 2 Driv...

Page 74: ... 16 7i PLP1 axis PLP2 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP2 axis 17 8i PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP2 axis 18 7i PLP3 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis 19 8i PLP1 axis PLP2 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis 20 9i PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis PLP1 axis...

Page 75: ...s enough for all the mechanical units it is possible to use a power cable for IRC5 s XS 7 3 axis and a resolver cable for XS 41 xx1800002141 System example Two 3 axis FlexPLP IRPLP 220 Below is an example of configuration with one single cabinet IRC5 which controls two 3 axis FlexPLP IRPLP 220 through one 6 axis SMB box xx1800002142 Continues on next page Product manual FlexPLP IRPLP 220 75 3HAW05...

Page 76: ...ts which controls two 3 axis FlexPLP IRPLP 220 and three 1 axis FlexPLP IRPLP 220 through respectively one 6 axis SMB box and one 3 axis SMB box xx1800002143 Continues on next page 76 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissioning 4 3 4 Examples of configurations Continued ...

Page 77: ...h six drive units connected with one Ethernet cable and one safety cable The IRC5 controls four 3 axis FlexPLP IRPLP 220 through two 6 axis SMB box xx1800002144 Continues on next page Product manual FlexPLP IRPLP 220 77 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissioning 4 3 4 Examples of configurations Continued ...

Page 78: ... module also with nine drive units The IRC5 controls six 3 axis FlexPLP IRPLP 220 through two 6 axis SMB box and two 3 axis SMB box xx1800002145 Continues on next page 78 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation and commissioning 4 3 4 Examples of configurations Continued ...

Page 79: ...s and two safety cables The IRC5 controls eight 3 axis FlexPLP IRPLP 220 through three 6 axis SMB box and two 3 axis SMB box Since the system has eight FlexPLP IRPLP 220 three mechanical units or more are grouped in two motion tasks or more xx1800002146 Continues on next page Product manual FlexPLP IRPLP 220 79 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Installation...

Page 80: ...r 3 axis FlexPLP IRPLP 220 one 2 axis FlexPLP IRPLP 220 and two 1 axis FlexPLP IRPLP 220 through two 6 axis SMB box one 3 axis SMB box and one 1 axis SMB box Since the system has seven FlexPLP IRPLP 220 two mechanical units or more are grouped in one motion task or more xx1800002147 80 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 4 Insta...

Page 81: ...ng system and the layout Detailed instructions regarding the setting and loading of these files can be found in the controller documentation See Product manual IRC5 3HAC047136 001 Product manual IRC5 Compact 3HAC047138 001 Operating manual IRC5 with FlexPendant 3HAC050941 001 Once the parameters are properly set in the system calibrate the unit s as described in Calibration on page 83 Product manu...

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Page 83: ...ted e g cable disconnected A FlexPLP axis is moved with the control system disconnected The revolution counters must also be updated after the device and controller are connected at the first installation Power failure There s no need to calibrate the FlexPLP after a power failure the backup battery included in the SMB box will store the resolver position until power is restored Precautions CAUTIO...

Page 84: ...stem B Calibration hole on the index system C NOTE To make the calibration hole on the base body visible here the calibration index system is shown in semi transparent Calibration pin D Calibration hole on base E Note As FlexPLP IRPLP 220 with calibration index system has flexible installation methods for both parts and axes combination there are only one calibration index system for each axis Her...

Page 85: ...anical units connected to the system are shown along with their calibration status xx1800002152 Tap to select the mechanical unit and then tap to select Calib Para meters Tap Edit Motor Calibration Offset a pop up warning dialog box is displayed Tap Yes to pro ceed 2 Continues on next page Product manual FlexPLP IRPLP 220 85 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved ...

Page 86: ...ration offset values have been saved to the system parameters To activate these values you need to restart the controller Do you want to restart the control ler now Tap Yes to restart the controller 4 For detailed procedure see Update of the revolu tion counters on page 90 Update the revolution counters 5 Note After replacing the drive system reset the resolver value 86 Product manual FlexPLP IRPL...

Page 87: ...LP instead of using calibration index system For more information see Soft Calibration on page 94 with FlexPLP Addin Procedure Info Illustration Action Using the FlexPendant jog the carriage or calibration index sys tem close to the calibration point See Cabling on page 16 1 xx1800002156 Jog the axis slowly until the two calibration holes are aligned and the calibration pin can be inserted freely ...

Page 88: ...chanical unit and then tap to select Calib Para meters Tap Fine Calibration a dialog box is displayed prompting to performing the actual calibra tion A warning that updating the revolution counters can change Programmed FlexPLP IRPLP 220 positions are also displayed Tap Yes to proceed 4 Continues on next page 88 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB ...

Page 89: ... be undone Tap Calibrate to proceed Then a dialog box announcing that the calibration process has started would display To cancel the calibration tap Cancel 6 xx1800002159 The axis is calibrated and the sys tem returns to the list of available mechanical units 7 Product manual FlexPLP IRPLP 220 89 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 5 Calibration 5 4 Fine calib...

Page 90: ...x1800002150 On the FlexPendant tap on the ABB logo to access the ABB menu and tap Calibration 2 xx1800002151 All mechanical units connected to the system are shown along with their calibration status Continues on next page 90 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 5 Calibration 5 5 Update of the revolution counters ...

Page 91: ...ve its revolu tion counter updated by ticking in the box to its left Or tapping Se lect all to and then tapping Update to update revolution counters for all axes 4 xx1800002163 Tap Update A dialog box is dis played warning that calibration of the selected axes will be changed which cannot be undone Tap Update to proceed Tap Cancel to cancel 5 Continues on next page Product manual FlexPLP IRPLP 220...

Page 92: ...update the selected revolution counters and remove the tick from the list of axes 6 92 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 5 Calibration 5 5 Update of the revolution counters Continued ...

Page 93: ...n of installing addin in RobotStudio see Operating manual RobotStudio For more information of supported system configuration see FlexPLP addin Release Note The FlexPLP addin offers a user friendly way to achieve common commissioning tasks such as Calibration and Shim offsets management Product manual FlexPLP IRPLP 220 93 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 Fl...

Page 94: ...fine calibration should only be performed by a qualified service engineer For more information see section Calibration on page 83 Procedures Commissioning With Commissioning function position can be precisely measured by external measuring system The complete process is handled with user wizard Define additional views to be allowed when starting a RAPID program in manual mode with following proced...

Page 95: ...urn the GUI navigation page 6 xx1800003162 The user must login to the system prior to any commissioning task Note User can only execute fine calibration in manual mode Fine calibration is disabled in automatic mode Continues on next page Product manual FlexPLP IRPLP 220 95 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP addin application GUI 6 2 1 Soft Calibratio...

Page 96: ...elect ABC to open the keyboard and input the initial password at the first time when you login Note The initial password is set by ABB Please contact your local ABB service flexlean sales cn abb com for more in formation 4 xx1800003151 Select Change on the right bottom of the screen to change the old password to a new one 5 xx1800003124 Continues on next page 96 Product manual FlexPLP IRPLP 220 3H...

Page 97: ...ordinates and angular The background program will precisely calculate the compensation on transmission With the collected data user can reset the data of transmission and radian of arm angle to improve accuracy through Set Transmission and Set Arm Angle command Angular Measurement PLP robot will move to the calibration position first Afterwards the robot will select nine positions which are the ze...

Page 98: ...owing procedures Note Action xx1800003164 Select Set Transmission 1 xx1800003165 Press the START button to continue the process 2 xx1800003166 Select OK for next step 3 xx1800003167 After inputting the new transmission of three axes measured by external measuring system select OK to con firm the value of new transmission 4 Continues on next page 98 Product manual FlexPLP IRPLP 220 3HAW050041018 00...

Page 99: ...rement of angular with following procedures Note Action xx1800003170 Select Set Arm Angle 1 xx1800003206 Press the START button to continue the processes 2 xx1800003207 Select OK for the next step 3 Continues on next page Product manual FlexPLP IRPLP 220 99 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP addin application GUI 6 2 1 Soft Calibration Continued ...

Page 100: ...1800003211 Select OK to finish the procedure 7 Set Frames When base frame of PLP is set after serial measurements and compensations user can update base frame in MOC according to the measurement of base frame Note Action xx1800003212 Select Set Frames 1 Continues on next page 100 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP add...

Page 101: ...0003216 Select OK to finish the procedure 5 Move to CalibPos With this command the robot will move to the calibration position through jointing its axes to zero Note Action xx1800003223 Select Move to CalibPos 1 Continues on next page Product manual FlexPLP IRPLP 220 101 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP addin application GUI 6 2 1 Soft Calibration ...

Page 102: ...ame coordinate with linear movement Note Action xx1800003217 Select Move to ZeroPos 1 xx1800003218 Choose 2 Base Zero select OK to confirm the setting 2 Continues on next page 102 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP addin application GUI 6 2 1 Soft Calibration Continued ...

Page 103: ... User must jog the robot to its calibration mark before updating revolution counter Furthermore before starting fine calibra tion the revolution counter must be up dated completely 3 xx1800003113 Select Calibrate 4 xx1800003115 Input the axis which you want to calibrate Note If you want to calibrate all the axes please input 0 Select OK before moving on to the next step 5 Continues on next page Pr...

Page 104: ...sition User is not al lowed to execute this function when PLP is at the position of maximum stroke Note Soft Calibration would be in failure be cause of PLP mechanical problems To remove this issue see Installation and commissioning on page 57 7 xx1800003219 104 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP addin application GUI...

Page 105: ...ardware is needed because friendly user interface takes everything easily to configure shim offset parameters Procedures Login Before executing offset setting user must login the FlexPLP addin application Otherwise user is not allowed to use PLP shim offset function Note User can only execute shim offset in manual mode Shim offset is disabled in automatic mode This procedure describes the login st...

Page 106: ...te system 4 xx1800003220 xx1800003123 Select the ABC to open the keyboard and input the initial password at the first time you login Note The initial password is set by ABB Please contact your local ABB service flexlean sales cn abb com for more in formation 5 Continues on next page 106 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 Flex...

Page 107: ...nge the pass word to the initial one 7 xx1800003150 xx1800003125 Select Login Note If password is valid Login button will turn to Logout Otherwise password invalid warning message will come out If turn off the PLP GUI application Login will be expired 8 Continues on next page Product manual FlexPLP IRPLP 220 107 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP add...

Page 108: ...xx1800003126 All the car bodies are listed for user to select In a new created system the de fault car body list includes Car Body 1 Car Body 2 Car Body 3 and Car Body 4 1 xx1800003153 User can modify the car body name through selecting Change Name 2 xx1800003127 PLP robots are listed for user to choose 3 Continues on next page 108 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copy...

Page 109: ...total shim value If the switch turns green and displays 1 the shim data of this switch will be effective Read function is used to read offset value from current controller system Read B Write function is used to record the active offset values that user set on GUI through the current controller system Write C Logs function is used to check the record of shim data values which helps user tracking t...

Page 110: ...ntrol ler system 1 xx1800003129 Select OK for next step 2 xx1800003139 Select Debug to check if offset tuning is correct and satisfactory Note Value of shim offsets is the sum of all types of shim offset that user defined 3 Continues on next page 110 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 6 FlexPLP addin application GUI 6 2 2 Shim ...

Page 111: ...own in the figure Select Acknowledge at the right corner of the warning page to close the warning The next step is Select Yes to move back to the original position Select No to keep the current posi tion without any movement xx1800003155 xx1800003140 Select Logs to check the record of shim data values It can help user tracking the change history 5 xx1800003224 Product manual FlexPLP IRPLP 220 111 ...

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Page 113: ...autions The precautions below should be observed before proceeding with the maintenance of the FlexPLP CAUTION Before any intervention on the mechanical and electrical components all power supplies to the FlexPLP as well as to other machines within the danger zone must be turned off If required the main switch should be locked Make sure that the pneumatic system is not pressurized Use only origina...

Page 114: ...es on their mid stroke and vertical axis carriage in low position The mounting method of the vertical axis showing below is carriage plate fixed with the triangle bracket xx1800002165 114 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 7 Maintenance 7 1 Introduction Continued ...

Page 115: ...stment and replacement on page 119 1 year Look for premature wear Measure the belt tension and adjust it if necessary Replace the belt in case of apparent damage Driving belt Using a thermode tector to check the temperature Make sure that the temper ature is lower than 90 C 3 month or every 100 km Inspect clean lubricate and check temperature Pinion and rack and gearbox SMB Battery pack replacemen...

Page 116: ...utton and perform the procedure for restart after an emergency stop as detailed in the controller documentation Electrical functions Test all the electrical functions Make sure that each carriage can reach the limits of its stroke Abnormal noise Look for any abnormal noise e g bearing noise Cables Inspect all cables If a cable is damaged due to wear or pinching replace it If a cable rubs against s...

Page 117: ...Grease doped with EP additives is absolutely necessary due to high loads on blocks Note Equipment CASTROL Longtime PD0 Lubricant KLÜBER Microlube GB0 WARNING The grease used causes serious eye irritation and may cause an allergic skin reaction Lubricant TOTAL Multis EP 0 Lubricant Lubrication ports of Ballscrew type To access the lubrication ports of the horizontal axis make sure that the carriage...

Page 118: ...necessary remove the flange xx1800002166 Ball bearing blocks Ports 1 2 3 4 Ballscrew nut Ports 5 Flange Ports 6 Lubricate ports of Rack Pinion type xx1800002167 Ball bearing blocks Ports 1 2 3 4 Rack Ports 5 118 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 7 Maintenance 7 4 Lubrication Continued ...

Page 119: ...s necessary to remove the axis from the horizontal axis or surface place to which it is attached C C B B A A xx1800002168 Motor shaft pulley A Driving belt B Ballscrew shaft pulley C Continues on next page Product manual FlexPLP IRPLP 220 119 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 7 Maintenance 7 5 Driving belt tension check adjustment and replacement ...

Page 120: ...od to measure the belt tension is to use a tension gauge with an optical resonance frequency meter such as the Continental CONTITECH VSM 1 Below is the correct value for the belt tension Belt resonance frequency Item 185 Hz 5 Hz Ballscrew 175 Hz 5 Hz Rack Pinion Tip You can order a tension gauge Continental CONTITECH VSM 1 from ABB under the reference number 3HAW050009048 See Special tools on page...

Page 121: ...t to desired tension 5 When the desired tension is achieved tighten the four motor mounting bracket screw and check the tension again Remove the adjusting M5 screw C Put the cover back xx1800002172 If a replacement of the belt and or the pulley is needed remove the end flange to clear access to the locking device A Remove the locking screws and screw them in the adjacent holes to pull the device o...

Page 122: ... Put the cover back xx1800002172 If a replacement of the belt is needed loosen and remove the belt If replacement of a pulley need loosen the belt and remove the end flange Using plastic rail to protect rail blocks C and take out the carriage system Clear access to the locking device A Remove the locking screws and screw them in the adjacent holes to pull the device out Remove the motor mounting b...

Page 123: ...attery as follows Action Position all of the carriages at the calibration point See Calibration points on page84 1 Switch off the power on the SMB box WARNING Turn off all electric power and pneumatic pressure supplies to the unit 2 Open the SMB box and locate the battery 3 Cut the plastic straps 4 Unplug the 2 wires cable from the board and remove the battery pack 5 Place the new battery pack plu...

Page 124: ...xx1800002178 Battery A Board B 124 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 7 Maintenance 7 6 SMB Battery pack replacement Continued ...

Page 125: ...he parts listed below please contact ABB in order to arrange an onsite repair by an ABB technician or send the unit or axis for exchange repair The ballscrew The motors The gearbox The racks and pinion The added rails Product manual FlexPLP IRPLP 220 125 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 7 Maintenance 7 7 Repair information ...

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Page 127: ...TION All power supplies to the FlexPLP as well as to other machines within the danger zone must be turned off Make sure that the pneumatic circuit is not pressurized If required the main switch should be locked Required equipment Note Equipment Specified in Handling lifting on page 54 Handling equipment Specified in Standard toolkit on page 134 Standard toolkit Continues on next page Product manua...

Page 128: ...oduct and their respective use throughout the product Dispose of the components properly to prevent health or environmental hazards Example application Material Connector box and so on Aluminum Cable motor and so on Copper alloy Gears screws nuts and so on Steel Cables connectors belt and so on Plastic Rubber PVC Continues on next page 128 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revisio...

Page 129: ...ins or onto soil Incineration must be carried out under controlled conditions in accordance with local regulations Also note that Spills may form a film on water surfaces causing damage to organisms Oxygen transfer could also be impaired Spillage may penetrate the soil causing ground water contamination Product manual FlexPLP IRPLP 220 129 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All r...

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Page 131: ...ncludes general information complementing the more specific information in the different procedures in the manual Product manual FlexPLP IRPLP 220 131 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 9 Reference information 9 1 Introduction ...

Page 132: ...in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume 132 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 9 Reference information 9 2 Unit conversion ...

Page 133: ... Unless indicated otherwise all bolts must be free of oil or grease and tightened with a mild thread locker such as Loctite 243 Standard tightening torques The following table specifies the recommended standard tightening torques for hex screws and socket head hex screws M12 M10 M8 M6 M5 Screw thread size 79 Nm 46 Nm 23 Nm 9 5 Nm 5 5 Nm Tightening torque CLASS 8 8 116 Nm 67 Nm 34 Nm 14 Nm 8 1 Nm T...

Page 134: ...e the sum of the standard toolkit and any tools listed in the instruction Contents standard toolkit Tool Qty Set of spanners 1 Hex keys Allen key 3 mm 4 mm 5 mm and 6 mm 1 Torque wrench 5 Nm 25 Nm 1 Ratchet head for torque wrench 1 4 1 Socket head cap 4 mm 5 mm and 6 mm socket 1 4 bit L 20 mm 1 for socket head cap screws ISO 4762 Plastic mallet 1 Dowel Pin remover 1 Mild thread locker Recommended ...

Page 135: ...ions on pneumatic connectors the special tools are as follows Product Tool Qty Loctite 577 Thread sealant for conical fittings 1 For operations on electrical parts the special tools are as follows Product Tool Qty Wire strippers 1 Cable cutters 1 Special tools available from ABB The following table specifies the special tools required during several of the service procedures The tools may be order...

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Page 137: ...which share most of their components with ballscrew units Spare parts for covers Electrical parts SMB boxes static cables Some spare parts must be chosen according to the strokes of your PLP In any case contact ABB if you do not know what type of material is required for your PLP Product manual FlexPLP IRPLP 220 137 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 10 Spare ...

Page 138: ...510 mm type Dia 32x5 3HAW050041875 Ballscrew stroke 590 mm type Dia 32x5 3HAW050041876 Ballscrew stroke 670 mm type Dia 32x5 3HAW050041877 Rail stroke 190 mm 3HAW050041851 2 D Rail stroke 270 mm 3HAW050041852 Rail stroke 350 mm 3HAW050041853 Rail stroke 430 mm 3HAW050041854 Rail stroke 510 mm 3HAW050041855 Rail stroke 590 mm 3HAW050041856 Rail stroke 670 mm 3HAW050041857 Bearing 3HAW050041895 1 E ...

Page 139: ...1 P i The number of chain link depends on strokes 26 for stroke 190 mm 28 for stroke 270 mm 32 for stroke 350 mm 34 for stroke 430 mm 36 for stroke 510 mm 40 for stroke 590 mm and 42 for stroke 670 mm Note Contact ABB if you do not know whether your FlexPLP requires Material for strokes Ballscrew type or Rack Pinion type Product manual FlexPLP IRPLP 220 139 3HAW050041018 001 Revision C Copyright 2...

Page 140: ...roke 990 mm 1 150 mm 2 110 mm 3HAW050041881 1 Ai Rack stroke 990 mm 3HAW050041882 1 Rack stroke 1 150 mm 1 630 mm 3HAW050041711 1 Rack stroke 1 630 mm 3HAW050041881 2 Rack stroke 2 110 mm 3HAW050041711 2 Gearbox 3HAW050041920 1 B Pinion 3HAW050041924 1 C Chain link 14 4 038 3HAW050041977 26ii D Chain link 14 4 038 3HAW050041803 26ii E Chain moving end 114 3 2PZ 3HAW050041805 1 F Chain moving end 1...

Page 141: ...he rack is combined by one 3HAW050041711 and two 3HAW050041881 ii The number of chain link depends on strokes 26 for stroke 990 mm 29 for stroke 1 150 mm 37 for stroke 1 630 mm and 45 for stroke 2 110 mm Product manual FlexPLP IRPLP 220 141 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 10 Spare parts 10 3 Spare parts Rack Pinion type Continued ...

Page 142: ...050041841 7035 1 per axis B Cover stroke 270 mm 3HAW050041842 7035 Cover stroke 350 mm 3HAW050041843 7035 Cover stroke 430 mm 3HAW050041844 7035 Cover stroke 510 mm 3HAW050041845 7035 Cover stroke 590 mm 3HAW050041846 7035 Cover stroke 670 mm 3HAW050041847 7035 142 Product manual FlexPLP IRPLP 220 3HAW050041018 001 Revision C Copyright 2016 2018 ABB All rights reserved 10 Spare parts 10 4 Covers ...

Page 143: ...075 001 3HAW050008651 SMB box 3 axis M2008 Does not include board bat tery Order in addition 3HAC044168 001 and 3HAC044075 001 3HAW050008605 Main board for SMB box 3HAC044168 001 Battery for SMB box 3HAC044075 001 PTC Shunt M2008 3HAW050008607 Cables from SMB box to mechanical unit Description ABB part reference no Quantity 1 Resolver Static M2008 2 m 3HAW050041981 002 1 per axis 1 Resolver Static...

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Page 146: ...lephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAW050041018 001 Rev C en Copyright 2016 2018 ABB All rights reserved Specifications subject to change without notice ...

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