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1.6.2 Fine calibration

General

Fine calibration is made by moving the axes so that the synchronization mark on
each joint is aligned, and running the CalHall routine.

For detailed information on calibration of the robot see

Product manual - IRB 14050

DETAIL Syn Axis 7

DETAIL Syn Axis 1

DETAIL Syn Axis 6

DETAIL Syn Axis 2

DETAIL Syn Axis 4

DETAIL Syn Axis 5

DETAIL Syn Axis 3

xx1800000580

Product specification - IRB 14050

3HAC064627-001 Revision: G

1 Description

1.6.2 Fine calibration

Содержание IRB 14050

Страница 1: ...ROBOTICS Product specification IRB 14050 ...

Страница 2: ...Trace back information Workspace 20D version a7 Checked in 2020 12 11 Skribenta version 5 3 075 ...

Страница 4: ...nty by ABB for losses damage to 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 ...

Страница 5: ...le shooting 41 1 8 Robot motion 41 1 8 1 Working range and type of motion 44 1 8 2 Performance according to ISO 9283 45 1 8 3 Velocity 46 1 8 4 Stopping distance time 47 1 9 Customer connections 49 2 Grippers 49 2 1 Structure 49 2 1 1 Introduction 50 2 1 2 Function modules 56 2 2 Technical data 56 2 2 1 General 61 2 2 2 Servo module 64 2 2 3 Vacuum module 65 2 2 4 Vision module 67 2 2 5 Fingers 68...

Страница 7: ...onnel References Document ID Document name 3HAC064628 001 Product manual spare parts IRB 14050 3HAC064627 001 Product specification IRB 14050 3HAC064626 001 Product manual Grippers for IRB 14050 3HAC064375 009 Circuit diagram IRB 14050 3HAC031045 001 Safety manual for robot Manipulator and IRC5 or OmniCore con troller i 3HAC042927 001 Technical reference manual Lubrication in gearboxes 3HAC060860 ...

Страница 8: ...ption of Type A added in robot description chapter Minor changes in section Specification of variants and options Updated robot arm dimension figure D Published in release 20B The following updates are done in this revision Corrected the quantity of washers for securing robot to the foundation Updated robot arm dimension E Published in release 20C The following updates are done in this revision Mi...

Страница 9: ...or manufacturing industries that use flexible robot based automation e g 3C industry The robot has an open structure that is especially adapted for flexible use and can communicate extensively with external systems Continues on next page Product specification IRB 14050 9 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 1 1 Introduction to structure ...

Страница 10: ... Mechanical design axis 4 and axis 5 Cable harness design Those robots in original design are simply named IRB 14050 no type specified How to know which type the robot is The following characteristics can be used to figure out the robot type Axis 5 appearance IRB 14050 Type A IRB 14050 no type specified xx1900001957 xx1900001956 Continues on next page 10 Product specification IRB 14050 3HAC064627 ...

Страница 11: ...14050 Type A IRB 14050 no type specified 146 mm 137 mm A Continues on next page Product specification IRB 14050 11 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 1 1 1 1 Robot type description Continued ...

Страница 12: ...rts every aspect of the robot system such as motion control development and execution of application programs communication etc See Operating manual OmniCore Safety The safety standards are valid for the complete robot Additional functionality For additional functionality the robot can be equipped with optional software for application support for example communication features network communicati...

Страница 13: ...Arm axes 1 2 3 4 5 6 7 xx1800000579 Product specification IRB 14050 13 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 1 1 1 1 Robot type description Continued ...

Страница 14: ...rk ing space Machinery directive 2006 42 EG The sound pressure level outside Airborne noise level Power consumption Path E E2 E3 E4 in the ISO Cube maximum load Power consumption kW Type of movement 0 17 kW Average power consumption IRB 14050 Robot in 0 degree position 0 09 kW Brakes engaged 0 14 kW Brakes disengaged xx0900000265 Description Position 250 mm A Continues on next page 14 Product spec...

Страница 15: ...connector interface 204 8 30 4 160 9 5 160 644 8 427 5 xx1800000592 Continues on next page Product specification IRB 14050 15 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 1 2 The Robot Continued ...

Страница 16: ...rface option 3309 1 162 9 5 27 9 204 8 160 644 8 672 7 427 5 xx1900001790 Continues on next page 16 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 1 2 The Robot Continued ...

Страница 17: ...8 IRB 14050 Type A IRB 14050 no type specified 146 mm 137 mm A Continues on next page Product specification IRB 14050 17 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 1 2 The Robot Continued ...

Страница 18: ...Robot base 155 2 6 27 2 5 18 xx1900001794 18 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 1 2 The Robot Continued ...

Страница 19: ...menclatures ISO 9787 2013 Manipulating industrial robots performance criteria and related test methods ISO 9283 1998 Classification of air cleanliness EN ISO 14644 1 2015i Ergonomics of the thermal environment Part 1 EN ISO 13732 1 2008 EMC Generic emission EN 61000 6 4 2007 A1 2011 IEC 61000 6 4 2006 A1 2010 EMC Generic immunity EN 61000 6 2 2005 IEC 61000 6 2 2005 Arc welding equipment Part 1 We...

Страница 20: ...harmless An auto initiation requirement does not further con tribute to a risk reduction It is possible to activ ate manipulator auto matic operation from the FlexPendant 5 7 3 5 8 5 Initiat ing automatic opera tion It is possible to set up safeguarded space using external equipment and safety inputs The IRB 14050 robot is intended for collab orative applications where contact between robot and th...

Страница 21: ... 14 Protection of Electrical and Electronic Parts Assemblies and Equipment Excluding Electrically Initiated Explosive Devices ANSI ESD S20 20 2007 Product specification IRB 14050 21 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 2 1 Applicable standards Continued ...

Страница 22: ... by system parameters See Technical ref erence manual System parameters Additional safety features in the control system Description Safety functions The FlexPendant is always equipped with a three position en abling device but for the IRB 14050 system the enabling device is not used Therefore the enabling device is disabled and in active when the FlexPendant is connected to an IRB 14050 system bu...

Страница 23: ...050 is intended for use in industrial environment An arm can handle a maximum payload of 0 5 kg Continues on next page Product specification IRB 14050 23 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 3 Installation ...

Страница 24: ...operation 10 C 14 F to 55 C 131 F Standard Complete robot during transportation and storage i At low environmental temperature 10ºC is as with any other machine a warm up phase recommended to be run with the robot Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity Relative humidity Relative humidity Description Max 85 ...

Страница 25: ...3 19 N 42 03 N Force y 75 65 87 34 N 75 65 36 N Force z 91 47 Nm 30 52 Nm Torque x 95 07 Nm 30 Nm Torque y 14 83 Nm 12 32 Nm Torque z Tz Tx Fz Fy Ty Fx xx1700002300 Force in the X plane Fx Force in the Y plane Fy Force in the Z plane Fz Continues on next page Product specification IRB 14050 25 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 3 2 Mounting the man...

Страница 26: ...uring different kinds of operation Note These forces and torques are extreme values that are rarely encountered during operation The values also never reach their maximum at the same time Continues on next page 26 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 3 2 Mounting the manipulator Continued ...

Страница 27: ...lignment hole slot B Attachment bolts specification The table specifies the type of securing screws and washers to be used to secure the robot directly to the foundation It also specifies the type of pins to be used M10x25 Suitable screws 10 5x20x2 Suitable washers 4 pcs Quantity 8 8 Quality 2 pcs article number 3HNP00449 1 Guide pins 40 Nm Tightening torque Continues on next page Product specific...

Страница 28: ...ower to Ethernet I O module hall sensor and gripper R1 H B OD 4 mm air hose 0 5 MPa air pressure A1 C Transfers resolver data from and power supply to the serial measurement board R1 SMB D Cable inlet reserved for customer signals which is connected from the I O module inside base R1 C1 E Transfers drive power from the drive units in the control cabinet to the robot motors R1 MP F 28 Product speci...

Страница 29: ...c definition of the tool and load to determine correct load parameters For detailed information see Operating manual OmniCore WARNING Robots running with incorrect load data and or with loads outside diagram will not be covered by robot warranty General The load diagram includes a nominal pay load inertia J0 of 0 001 kgm2 At different moment of inertia the load diagram will be changed For robots t...

Страница 30: ...ripper 0 00 0 05 0 10 0 15 0 20 0 00 0 05 0 10 0 3 kg 0 4 kg 0 5 kg Z m L m xx1500000097 Continues on next page 30 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 4 2 Load diagram ...

Страница 31: ...example given for the heaviest combination of IRB 14050 Gripper options servo 2 vacuum modules including fingers and suction tools Actual load capacity should be determined from the robot load diagram and the mass data of the actual gripper and end effectors Product specification IRB 14050 31 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 4 2 Load diagram Cont...

Страница 32: ... table below shows the maximum permissible torque due to payload Note The values are for reference only and should not be used for calculating permitted load offset position of center of gravity within the load diagram since those also are limited by main axes torques as well as dynamic loads Also arm loads will influence the permitted load diagram contact your local ABB organization Max torque va...

Страница 33: ...grippers see Grippers on page 49 or for customer specific equipment and on robot Below is an overview of the robot and tool flange see Tool flange on page 34 for details Product specification IRB 14050 33 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 5 1 General ...

Страница 34: ...5 mm C Mill Max 430 10 208 00 240000 spring loaded header double row 8 pad connector for 24V and Ethernet or IO D Outer diam 7 5e8 and inner diam 4 4F10 for air hose E Calibration mark for axis 6 F Continues on next page 34 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 5 2 Tool flange ...

Страница 35: ...5 5 4 5 1 04 0 20 0 2 J J 2 5 2 5 10 2 5 1 HA B 6 xx1500000098 Description Pos Dimensions air hose A Mill Max 430 10 208 00 240000 spring loaded header double row 8 pad connector B Product specification IRB 14050 35 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 5 2 Tool flange Continued ...

Страница 36: ... with Absolute accuracy has the option information printed on its name plate To regain 100 Absolute accuracy perform ance the robot must be recalibrated for abso lute accuracy after repair or maintenance that affects the mechanical structure Brief description of calibration methods CalibWare Absolute Accuracy calibration The CalibWare tool guides through the calibration process and calculates new ...

Страница 37: ...ne For detailed information on calibration of the robot see Product manual IRB 14050 DETAIL Syn Axis 7 DETAIL Syn Axis 1 DETAIL Syn Axis 6 DETAIL Syn Axis 2 DETAIL Syn Axis 4 DETAIL Syn Axis 5 DETAIL Syn Axis 3 xx1800000580 Product specification IRB 14050 37 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 6 2 Fine calibration ...

Страница 38: ...mming Re use of programs between applications The option Absolute Accuracy is integrated in the controller algorithms and does not need external equipment or calculation Note The performance data is applicable to the corresponding RobotWare version of the individual robot xx1700002304 What is included Every Absolute Accuracy robot is delivered with compensation parameters saved on the robot s seri...

Страница 39: ...argets e g MoveL and ModPos on robtargets Reorientation jogging Linear jogging Tool definition 4 5 6 point tool definition room fixed TCP stationary tool Work object definition Absolute Accuracy not active The following are examples of when Absolute Accuracy is not active Any motion function based on a jointtarget MoveAbsJ Independent joint Joint based jogging RAPID instructions There are no RAPID...

Страница 40: ...boxes The cabling is routed for longevity It has a program memory battery low alarm Maintenance The maintenance intervals depend on the use of the robot the required maintenance activities also depends on selected options For detailed information on maintenance procedures see Maintenance section in the Product Manual 40 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 A...

Страница 41: ...Axis 2 168 5 to 168 5 Arm Rotation motion Axis 7 123 5 to 80 Arm Bend motion Axis 3 290 to 290 Wrist Rotation motion Axis 4 88 to 138 Wrist Bend motion Axis 5 229 to 229 Flange Rotation motion Axis 6 Continues on next page Product specification IRB 14050 41 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 8 1 Working range and type of motion ...

Страница 42: ...306 460 835 0 154 529 474 0 127 127 559 559 Y Z xx1700002305 Side view 0 127 127 559 556 0 306 460 835 0 154 529 Z X xx1700002306 Continues on next page 42 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 8 1 Working range and type of motion Continued ...

Страница 43: ... R559 0 548 559 0 112 xx1700002307 Isometric view xx1700002308 Product specification IRB 14050 43 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 8 1 Working range and type of motion Continued ...

Страница 44: ...rding to figure below xx0800000424 Description Position Description Position Programmed path E Programmed position A Actual path at program execution D Mean position at program execution B Max deviation from E to average path AT Mean distance from pro grammed position AP Tolerance of the path at repeated program execution RT Tolerance of position B at re peated positioning RP Values Description IR...

Страница 45: ...0 s 180 s 180 s 180 s IRB 14050 Supervision is required to prevent overheating in applications with intensive and frequent movements Resolution Approximately 0 01 on each axis Product specification IRB 14050 45 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 8 3 Velocity ...

Страница 46: ...e valid for floor mounted robot without any tilting Category 0 stop Stop time s Stopping distance in degrees Axis Robot variant 0 37 23 1 IRB 14050 0 37 23 2 0 40 26 7 0 40 26 3 Note Axes 4 5 and 6 may have small residual movements after the stop due to the influence of gravity and inertia 46 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Des...

Страница 47: ...ignals on the flanges There is a female Ethernet connector waiting next to the Ethernet switch inside of the controller by which flange positions A D can instead be routed to XP12 on the left side panel of the controller There cross connections to DI and DO connectors XS8 and XS7 can easily be made On each flange only one of Ethernet and IO signals can be used at the same time When selecting the I...

Страница 48: ...F H G E C xx1500000492 Description Pin EtherNet RD A EtherNet TD B EtherNet RD Max current 2A when not used as Ethernet signals C EtherNet TD Max current 2A when not used as Ethernet signals D PE E Spare F 0V IO G 24V IO Max current 1 A arm H 48 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 1 Description 1 9 Customer connections Continued ...

Страница 49: ... are provided together with the gripper Note It is the same gripper as for IRB 14000 Protection The IRB 14050 gripper has IP30 protection Communication The IRB 14050 gripper communicates with the IRB 14050 controller over an Ethernet IP fieldbus A RobotWare add in SmartGripper is provided to facilitate the operation and programming of the gripper The add in contains RAPID driver FlexPendant interf...

Страница 50: ...lace the ob jects by the blow off function Vacuum 2 The vision module contains a Cognex AE3 In Sight camera supporting all functions of ABB Integrated Vision Vision 3 The three function modules can be combined into five different possibilities as listed in the following table Includes Combination One servo module Servo 1 One servo module and one vacuum module Servo Vacuum 2 One servo module and tw...

Страница 51: ...g figure illustrates the gripper with one servo module xx1400002137 Continues on next page Product specification IRB 14050 51 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 1 2 Function modules Continued ...

Страница 52: ...tes the gripper with one servo module and one vacuum module xx1400002138 Continues on next page 52 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 1 2 Function modules Continued ...

Страница 53: ...ustrates the gripper with one servo module and two vacuum modules xx1400002139 Continues on next page Product specification IRB 14050 53 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 1 2 Function modules Continued ...

Страница 54: ...tes the gripper with one servo module and one vision module xx1400002140 Continues on next page 54 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 1 2 Function modules Continued ...

Страница 55: ...lustrates the gripper with one servo module one vacuum module and one vision module xx1400002141 Product specification IRB 14050 55 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 1 2 Function modules Continued ...

Страница 56: ... CoG mm of the whole gripper CoG mm without fingers suction cup s and filter s Combination z y x z y x 52 11 7 8 2 49 2 12 3 8 7 Servo 52 7 11 7 8 6 48 7 12 3 8 9 Servo Vacu um 1 47 3 11 9 7 1 44 8 12 4 7 4 Servo Vacu um 1 Vacuum 2 52 7 11 8 7 5 48 7 12 4 7 9 Servo Vision 50 7 11 9 7 8 48 1 12 5 8 2 Servo Vision Vacuum 1 Detailed mass data Inertia Inertia kgm2 of the whole gripper Inertia kgm2 wit...

Страница 57: ... 00019 0 00008 Servo Vision TRUE 0 0 0 1 0 0 0 0 240 8 2 12 5 48 1 1 0 0 0 0 00018 0 00020 0 00009 Servo Vision Vacuum Tooldata definitions with fingers suction cup s and filter s Tooldata Combination TRUE 0 0 0 1 0 0 0 0 230 8 2 11 7 52 0 1 0 0 0 0 00021 0 00024 0 00009 Servo TRUE 0 0 0 1 0 0 0 0 248 8 6 11 7 52 7 1 0 0 0 0 00021 0 00024 0 00009 Servo Vacuum TRUE 0 0 0 1 0 0 0 0 280 7 1 11 9 47 3...

Страница 58: ...an example xx1500000826 CoG A Note Dimensions of CoG in the brackets are without the fingers and suction tools Getting started finger length B Travel length 0 50 mm C Continues on next page 58 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 2 1 General Continued ...

Страница 59: ...und pressure level outside Power consumption The gripper is powered by 24 V DC and the maximum power consumption of the whole gripper is 9 W Continues on next page Product specification IRB 14050 59 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 2 1 General Continued ...

Страница 60: ...dimension data of the suction cups and filters For the specific dimension of the camera used in the gripper with a vision module see Camera dimensions on page 65 A 84 136 52 69 37 5 83 18 5 41 5 127 22 xx1500000106 Description Pos Travel length 0 50 mm A 60 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 2 1 General Continued ...

Страница 61: ...point of 40 mm Maximum gripping force 15 N at the gripping point of 40 mm External force not in gripping directions 3 N Force control accuracy Load diagram The following figures show the relationship between the maximum allowed gripping force and gripping point to the finger flange xx1500000792 Continues on next page Product specification IRB 14050 61 3HAC064627 001 Revision G Copyright 20192020 A...

Страница 62: ...it of mm L The following figures show the relationship between the maximum allowed external force and gripping point to the finger flange xx1500000798 Continues on next page 62 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 2 2 Servo module Continued ...

Страница 63: ...ol with the repeatability of 0 05 mm The servo module is calibrated by RAPID instructions or using the FlexPendant interface For details see the section IRB 14050 gripper FlexPendant application and chapter RAPID references in Product manual Grippers for IRB 14000 Product specification IRB 14050 63 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 2 2 Servo module C...

Страница 64: ...otion while the object is picked Air pressure input to the robot Vacuum pressure sensor The air pressure of the vacuum module can be monitored in real time using an in built vacuum sensor This makes it possible to detect whether the object is correctly picked up by the suction tool Blow off actuator To minimize cycle time and ensure accurate drop off of the picked objects a blow off actuator is in...

Страница 65: ...mable intensity Illumination Powered by Cognex In Sight Software engine ABB Integrated vision or Cognex In Sight Explorer Application programming software Camera dimensions The following figure shows the dimension of the Cognex AE3 camera xx1500001395 Description Pos Internal illumination A Continues on next page Product specification IRB 14050 65 3HAC064627 001 Revision G Copyright 20192020 ABB A...

Страница 67: ... metal be used as the finger materials The finger size must be designed properly to prevent any collision with the gripper shell during the finger movement or gripping The length of the screws that are used for fastening the fingers to the finger flange must be proper and less than the maximum hole depth on the flange For details about the maximum hole depth see Hole configuration finger flange on...

Страница 68: ...put The nominal operating pressure is 6 bar Considering the working pressure of air tube in arm in normal operation the gripper is recommended to be supplied with 5 6 bar air input Before the air input ensure that the input air is filtered and clean Relative humidity Relative humidity Description 85 at constant temperature gaseous only Complete gripper during operation transportation and storage 6...

Страница 69: ...s Tightening torque Nm on plastic Tightening torque Nm on metal Screw type 0 05 N A M1 2 N A 0 25 M1 6 12 9 class carbon steel screw 0 05 N A M1 6 stainless steel screw 0 1 0 25 M2 0 45 0 45 M2 5 Product specification IRB 14050 69 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 3 2 Recommended standard tightening torque ...

Страница 70: ...er to the arm tool flange xx1500000126 Description Pos Recommended screws three M2 5 x 8 A Air hose B 8 pin connector spring loaded C Guide pin D Continues on next page 70 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 3 3 Mounting the gripper ...

Страница 71: ...1500000796 Description Pin EtherNet RD A EtherNet TD B EtherNet RD C EtherNet TD D PE E Spare F 0V IO G 24V IO H Continues on next page Product specification IRB 14050 71 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 3 3 Mounting the gripper Continued ...

Страница 72: ... hole configuration when assembling the gripper to the arm tool flange xx1500000793 Description Pos Stroke 1 mm B 72 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 3 3 Mounting the gripper Continued ...

Страница 73: ...tor and must be included in the final risk assessment done by the system integrator Hole configuration finger flange The following figures show the hole configuration and main dimensions of the finger flanges xx1500000794 Description Pos Position of the maximum displacement A Maximum hole depth B Product specification IRB 14050 73 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserve...

Страница 74: ...on tools to ensure the long term performance of the vacuum module If the vacuum function is not required passive assembly tools such as press tools can also be mounted to the suction tool interface Any tools mounted to the gripper must be included in the final risk assessment by the system integrator Continues on next page 74 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 2019...

Страница 75: ... xx1500000795 Description Pos Length from the center to the outer shell surface A Length from the center to the inner shell surface B Shell hole diameter C Product specification IRB 14050 75 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 3 5 Mounting tools to the vacuum module Continued ...

Страница 76: ...Maintenance The maintenance intervals depend on the use of the gripper and the required maintenance activities also depend on the selected options For detailed about the maintenance procedures see the Maintenance chapter in the Product manual Product ProductName 76 Product specification IRB 14050 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 2 Grippers 2 4 1 Introduction ...

Страница 77: ...ctions The same option numbers are used here as in the specification form The variants and options related to the robot controller are described in the product specification for the controller Product specification IRB 14050 77 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 3 Specification of variants and options 3 1 Introduction to variants and options ...

Страница 78: ...1513 1 Not together with Vision 1515 1 Vacuum 2 1514 1 First gripper Vision Description Type Option Requires Servo 1512 1 integrated vision support 3127 1 Vision 1515 1 Second gripper Servo Description Type Option Servo 1516 1 Second gripper Vacuum 1 Description Type Option Requires Servo 1516 1 Vacuum 1 1517 1 Second gripper Vacuum 2 Description Type Option Requires Servo 1516 1 and Vacuum 1 1517...

Страница 79: ...1512 6 1 1513 7 1 1514 8 1 Vision Servo integrated vision cam era 1512 6 1 1515 9 1 Vision Servo integrated vision camera one vacuum unit 1512 6 1 1513 7 1 1515 9 1 Robot cabling routing Description Option Under the base 3309 1 From side of base 3309 2 Continues on next page Product specification IRB 14050 79 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 3 Specification of v...

Страница 80: ...n above is not applicable for option Stock warranty 438 8 Description Type Option Standard warranty is 12 months from Customer Delivery Date or latest 18 months after Factory Shipment Date whichever occurs first Warranty terms and conditions apply Standard warranty 438 1 Maximum 6 months postponed start of standard war ranty starting from factory shipment date Note that no claims will be accepted ...

Страница 81: ...e 3 m 3203 2 Cable assembly with NEMA5 15 line side plug US mains cable 9 ft 3203 3 Cable assembly with JI8303 line side plug JP mains cable 3 m 3203 4 Cable assembly with CPCS CCC line side plug CN mains cable 3 m 3203 5 Cable assembly with AS NZS 3112 line side plug AU mains cable 3 m 3203 6 Product specification IRB 14050 81 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 3...

Страница 82: ...Ext 3042 1 Conveyor Tracking 3103 1 3 Modes Keyless 3044 1 Multitasking 3114 1 Not currently supported not listed in the specification form Name Option Name Option SafeMove Base 3043 1 24V 8Amps 3015 1 Independent Axis 3111 1 FlexPend Ext Cable 15m 3017 1 Path Corrections 3123 1 FlexPend Ext Cable 22m 3017 2 Advanced robot motion 3100 1 FlexPend Ext Cable 30m 3017 3 Force Control Interface 3038 1 ...

Страница 83: ...more information see Product specification OmniCore C line and Robot peripherals Grippers Signal lamp Stationary camera Note Cognex In Sight Micro 1402 is a stationary camera specific to IRB 14050 See Product specification Integrated Vision Product specification IRB 14050 83 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved 4 Accessories ...

Страница 84: ...This page is intentionally left blank ...

Страница 85: ...ibWare 36 Cartesian speed supervision 22 compensation parameters 38 O options 77 P product standards 19 S safety standards 19 standards 19 ANSI 20 CAN 20 EN 20 EN IEC 19 EN ISO 19 standard warranty 80 stock warranty 80 V variants 77 W warranty 80 Product specification IRB 14050 85 3HAC064627 001 Revision G Copyright 20192020 ABB All rights reserved Index ...

Страница 86: ......

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Страница 88: ... 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC064627 001 Rev G en Copyright 20192020 ABB All rights reserved Specifications subject to change without notice ...

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