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3.5.9 Configuring robot stopping functions

Introduction

The robot stopping functions, protective and emergency stop are configured using
the

Visual SafeMove

functionality in RobotStudio.

The protective stop function can be configured to be either an

Automatic Stop

(AS)

or a

General Stop

(GS). When the protective stop function is configured as

General

Stop

(GS), the activation of the protective stop device will initiate the protective

stop in any operating mode. When the protective stop function is configured as

Automatic Stop

(AS), the activation of the protective stop device will initiate the

protective stop in automatic mode only.

Note

It is not possible to configure both

Automatic Stop

and

General Stop

at the same

time on the OmniCore E10.

Note

The dedicated discrete safety input to activate the protective stop function can
be configured as either

Automatic Stop

(AS) or

General Stop

(GS). For

simultaneous use of AS and GS, support for a safety protocol is required. See
option SafeMove.

For more information about safety configurations, see

Application

manual - Functional safety and SafeMove

Configure the robot stopping functions in Visual SafeMove

WARNING

The new settings must be verified by test before the robot is used.

Continues on next page

Product manual - OmniCore E10

3HAC079399-001 Revision: C

3 Installation and commissioning

3.5.9 Configuring robot stopping functions

Содержание OmniCore E10

Страница 1: ...ROBOTICS Product manual OmniCore E10 ...

Страница 2: ...Trace back information Workspace 22A version a10 Checked in 2022 03 02 Skribenta version 5 4 005 ...

Страница 4: ...ty 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 f...

Страница 5: ...ive to ESD 42 2 5 Handling of FlexPendant 43 2 6 Network security 44 2 7 Open source and 3rd party components in RobotWare 45 2 8 ABB Ability 47 3 Installation and commissioning 47 3 1 Introduction to installation and commissioning 48 3 2 Installation activities 49 3 3 Transporting and handling 49 3 3 1 Unpacking 50 3 3 2 Storing 51 3 4 On site installation 51 3 4 1 Required installation space 53 ...

Страница 6: ...135 5 2 4 Replacing the drive unit 141 5 2 5 Replacing the computer and logic unit 147 5 3 Replacing parts on the front panel 147 5 3 1 Replacing the manipulator signal SMB and motors power unit harness assembly 153 5 3 2 Replacing the incoming mains connector 157 5 4 Replacing parts on the FlexPendant 157 5 4 1 Replacing the power cable and power cable cover 161 5 4 2 Replacing the joystick prote...

Страница 7: ...essories and lifting instructions 207 9 Spare parts 208 9 1 Controller parts 209 9 1 1 Controller system parts 212 9 1 2 Mains connection parts 213 9 1 3 Logic parts 214 9 1 4 Cabinet parts 217 9 1 5 Miscellaneous parts 219 9 1 6 Cables 220 9 2 FlexPendant parts 221 9 3 Manipulator cables 221 9 3 1 Manipulator cables 222 9 3 2 Customer cables CP CS connectors option 223 9 3 3 Customer cables Ether...

Страница 8: ...This page is intentionally left blank ...

Страница 9: ...hould read this manual This manual is intended for installation personnel maintenance personnel repair personnel Prerequisites A maintenance repair installation craftsman working with an ABB robot must be trained by ABB and have the required knowledge of mechanical and electrical installation repair maintenance work be trained to respond to emergencies or abnormal situations Product manual scope T...

Страница 10: ...orted robot IRB 1200 910INV and 920 Updated structure in section Descriptions for connectors on page85 Updated structure in section Controller parts on page 208 Updated the section Ethernet networks on OmniCore on page 79 B Published in release 22A The following updates are made in this revision Added information on decoupling ES output and ES input see De scriptions for connectors on page85 and C...

Страница 11: ...oning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists References to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products for example lubrication the RAPID language and system parameters Application m...

Страница 12: ...The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 12 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved Product documentation Continued ...

Страница 13: ...tion of the robot when the safety devices are defective not in their intended location or in any other way not working When instructions for operation and maintenance are not followed Non authorized design modifications of the robot Repairs on the robot and its spare parts carried out by in experienced or non qualified personnel Foreign objects Force majeure Spare parts and equipment ABB supplies ...

Страница 14: ... of a risk assessment performed on the robot and its intended application may determine that a safety related control system performance other than that stated in ISO 10218 is warranted for the application The SISTEMA ABB FSDT libraries contains details for the safety functions Performance level data The performance level data for the respective controller variant is presented in section Safety fu...

Страница 15: ...nce of alcohol drugs or any other intoxicating substances are not allowed to install maintain service repair or use the robot The plant liable must make sure that the personnel is trained on the robot and on responding to emergency or abnormal situations Personal protective equipment Use personal protective equipment as stated in the instructions Product manual OmniCore E10 15 3HAC079399 001 Revis...

Страница 16: ...will result in ser ious injury DANGER Signal word used to indicate a potentially hazardous situation which if not avoided could result in serious injury WARNING Signal word used to indicate a potentially hazardous situation related to electrical hazards which if not avoided could result in serious injury ELECTRICAL SHOCK Signal word used to indicate a potentially hazardous situation which if not a...

Страница 17: ...to indicate where to find additional information or how to do an operation in an easier way TIP Product manual OmniCore E10 17 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

Страница 18: ...mation labels contain information in text See Symbols and information on labels on page 18 Note The safety and information labels on the product must be observed Symbols and information on labels Note The descriptions in this section are generic the labels can contain additional information such as values Description Label Read the user manual before use xx1400001152 The robot is delivered to star...

Страница 19: ...ing cable Read operation manual before installation Enclosure environmental type rating is type 1 Inserting fingers or foreign objects into opening may cause personal injury xx1800000836 High voltage inside the module even if the main switch is in the OFF position xx1400001156 ESD sensitive components inside the controller xx1400001162 Product manual OmniCore E10 19 3HAC079399 001 Revision C Copyr...

Страница 20: ...ble Y N Default stop category Description Inputs to initiate a stop function Y Stop category 0 Input to initiate the emergency stop func tion The Emergency Stop function is initi ated in both automatic and manual mode Emergency Stop ES For deviations see the product manual for the manipulator Y Stop category 1 Input to initiate the protective stop func tion The protective stop function can either ...

Страница 21: ...ute for safeguarding measures or safety functions Note A safety input used to initiate a protective stop must remain active for at least 100 ms Product manual OmniCore E10 21 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 1 Safety 1 3 1 Protective stop and emergency stop Continued ...

Страница 22: ...only possible by an intentional human action on the device where the command has been initiated The disengagement of the emergency stop device shall not restart the machinery but only permit restarting Note The emergency stop device on the FlexPendant is operational when the robot is powered Indicators to be used to verify that the robot is powered are the main switch on the cabinet or the LED ind...

Страница 23: ... device must never be rendered inoperational in any way If there is a need to enter safeguarded space always bring the FlexPendant This is to enforce single point of control Hold to run function in manual high speed mode The hold to run function for manual high speed allows movement in conjunction with the three position enabling device when the button connected to the function is actuated manuall...

Страница 24: ...e tasks In manual reduced speed mode the movement of the TCP is limited to 250 mm s In addition there is a limitation on the maximum allowed speed for each axis Manual control of the robot from inside the safeguarded space shall be performed through the FlexPendant WARNING Wherever possible the manual mode of operation shall be performed with all persons outside the safeguarded space Tasks normall...

Страница 25: ...compressed the speed is reset to the initial speed that is not exceeding 250 mm s WARNING Wherever possible the manual mode of operation shall be performed with all persons outside the safeguarded space Tasks normally performed in mode manual high speed The following tasks are normally performed in manual high speed mode Program verification Setting program pointer to Main to routine to cursor to ...

Страница 26: ...hen robot is at stop Load start stop and modify RAPID programs through remote clients Safeguard mechanisms Protective stop through Automatic Stop AS See actual configuration for the protective stop function The protective stop function can be be configured to either Automatic Stop AS or General Stop GS Note Prior to allowing the robot control system to operate in automatic mode ensure that any sus...

Страница 27: ...pact caused by a breaking or malfunctioning rotating tool or other device fitted to the robot The maximum TCP speed and the maximum velocity of the robot axes are detailed in the section Robot motion in the product specification for the respective manipulator Consider exposure to hazards such as slipping tripping and falling Hazards due to the working position and posture for a person working with...

Страница 28: ...at the safety devices necessary to protect people working with the robot system are designed and installed correctly When integrating the robot with external devices to a robot system The integrator of the robot system must ensure that emergency stop functions are interlocked in accordance with applicable standards The integrator of the robot system must ensure that safety functions are interlocke...

Страница 29: ...ctions are working as intended and that any remaining hazards identified in the risk assessment are mitigated to an acceptable level Product manual OmniCore E10 29 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 1 Safety 1 5 Safety during installation and commissioning Continued ...

Страница 30: ...grator to make sure that keys used to lock or change the operating mode are handled only by authorized personnel Safety devices not in use Safety devices that are not connected to the robot or robot system cannot initiate a protective or emergency stop These must be stored out of sight so that they cannot be mistaken for being in use 30 Product manual OmniCore E10 3HAC079399 001 Revision C Copyrig...

Страница 31: ...Under rated conditions the electrode materials and liquid electrolyte in the batteries are sealed and not exposed to the outside There is a hazard in case of abuse mechanical thermal electrical which leads to the activation of safety valves and or the rupture of the battery container As a result under certain circumstances electrolyte leakage electrode materials reaction with moisture water or bat...

Страница 32: ...time DANGER Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers A risk assessment must be done to address both robot and robot system specific hazards Related information See also the safety information related to installation operation maintenance and repair 32 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 20...

Страница 33: ...1 9 Decommissioning General See section Decommissioning on page 195 Product manual OmniCore E10 33 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 1 Safety 1 9 Decommissioning ...

Страница 34: ...This page is intentionally left blank ...

Страница 35: ...r family It will target mainly on 3C Electronics robot market It is used to control an ABB manipulator used in industrial applications such as material handling and machine tending Product manual OmniCore E10 35 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 2 Controller description 2 1 OmniCore E10 ...

Страница 36: ...e X6 Customer optional power input Baseline HMI HMI connector TPU Baseline X9 Customer safety interface Baseline T4 Drive unit Baseline A1 Power unit Baseline A2 Computer and logic unit Baseline G1 G2 Small fan Dimensions Value Parameter 445 mm Width 340 mm Depth 105 mm With foot Height 89 mm Without foot Continues on next page 36 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 201...

Страница 37: ...ble shows the allowed operating conditions for the controller Value Parameter 5 C 41 F Minimum ambient temperature 45 C 113 F Maximum ambient temperature 2 000 m Maximum ambient altitude Max Grms 2 86 m s2 X Y Z axis Vibration Max 5 g 50 m s2 11 ms Bumps Note The humidity conditions shall apply with the environmental conditions EN 60721 3 3 climatic class 3K3 For temperatures 0 30 C the relative h...

Страница 38: ...o integrated fuse inside the OmniCore E10 controller Add an external fuse time delay or circuit breaker class K according to full load current as marked on the controller nameplate The following table shows the recommended rating for an external fuse or circuit breaker Add an external circuit breaker class K according to full load current as marked on the controller nameplate The following table s...

Страница 39: ...ller mA Robot 30 mA IRB 1100 30 mA IRB 1200 30 mA IRB 1300 30 mA IRB 910INV 30 mA IRB 920 Note The integrator is responsible to address local electrical requirements Product manual OmniCore E10 39 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 2 Controller description 2 2 Technical data for OmniCore E10 controller Continued ...

Страница 40: ...stop of robot from FlexPendant TPU 6 62E 08 95 79 Protective stop of robot through Enabling Device 4 29E 08 90 232 Mirror Emergency stop state of robot triggered from External ESTOP 4 29E 08 92 190 Mirror Emergency stop state of robot triggered from FlexPendant TPU 4 29E 08 94 101 Emergency stop of robot 4 29E 08 94 101 Protective stop of robot Related information Safety data on page 14 1 The supp...

Страница 41: ...wrist strap The wrist strap button is located inside the controller Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly Use an ESD protective floor mat The mat must be grounded through a current limiting resistor Use a dissipative table mat The mat should provide a controlled discharge of static voltages and must be grounded Wrist strap button The...

Страница 42: ...er use sharp objects such as screwdriver or pen for operating the touch screen This could damage the touch screen Instead use your finger or a stylus Never clean the FlexPendant with solvents scouring agent or scrubbing sponges See the product manual for the robot controller section Cleaning the FlexPendant Always close the protective cap on the USB port when no USB device is connected The port ca...

Страница 43: ...lls application of authentication measures encryption of data installation of anti virus programs etc to protect the product the network its system and the interface against any kind of security breaches unauthorized access interference intrusion leakage and or theft of data or information ABB Ltd and its entities are not liable for damage and or loss related to such security breaches any unauthor...

Страница 44: ...icense licensor will provide licensee on demand a machine readable copy of the corresponding source code This offer is valid for a period of three years after delivery of the product ABB software is licensed under the ABB end user license agreement which is provided separately For RobotWare there is license information in the folder licenses in the RobotWare distribution package For OleOS the Linu...

Страница 45: ... commercially reasonable technical and organizational measures in order to protect the data against security breaches accidental or unlawful destruction loss alteration and unauthorized disclosure of or access to the data The cellular data connection is not required for the operation of the hardware and the connectivity settings can be adjusted and turned off at any given time Detailed information...

Страница 46: ...ility General Terms and Conditions ABB Ability Terms and Conditions https ability abb com terms Special Terms and Conditions for ABB Ability Connected Services https new abb com products robotics service robot registration 46 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 2 Controller description 2 8 ABB Ability Continued ...

Страница 47: ...nstallation work is commenced all safety information must be observed There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page13 before performing any installation work Note Always connect the OmniCore E10 and the robot to protective earth and resi...

Страница 48: ...and grounding the controller on page 73 Install a residual current device RCD 7 Connecting power supply to and grounding the controller on page 73 Connect incoming mains to the controller 8 Customer safety interface X9 on page86 Connect safeguards to the controller 9 How to connect industrial networks for example PROFINET is described in the respective application manual Connect for example Ethern...

Страница 49: ...ble is suitable to handle the weight of the controller 5 If the controller is not installed directly it must be stored as described in Transportation and storage conditions on page 37 6 Make sure that the expected operating environment of the controller conforms to the specifications as described in Operating conditions on page 37 7 The controller can be taken to its installation site as described...

Страница 50: ...e controller For storing see Transportation and storage conditions on page 37 50 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 3 2 Storing ...

Страница 51: ...ny cables over the left and right covers as it leads to inefficient cooling 5 4 5 m m 5 0 m m 5 0 m m 390 mm 50 mm 150 mm xx2100001296 Right Left Back Front Free space 50 mm 50 mm 50 mm 150 mm Base mounted 50 mm 50 mm 50 mm 150 mm Rack mounted Continues on next page Product manual OmniCore E10 51 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning...

Страница 52: ...s seen from below 44 50 31 00 381 00 262 50 4x 40 xx2100001297 The feet should only be used for positioning not for mounting or fastening 52 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 4 1 Required installation space Continued ...

Страница 53: ...n of the controller cabinet Preferably with angle bars along the entire side edges of the controller Required equipment Information Equipment 3HAC077631 001 Mounting kit See Standard toolkit for controller on page 202 Standard toolkit Continues on next page Product manual OmniCore E10 53 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 4 2 Mo...

Страница 54: ...ft sides 1 Assemble the mounting kit 2 Torx pan head screw M6x16 4 pcs Place the controller into the 19 cabinet and fasten it with the screws 3 Tightening torque 1 7 1 8 Nm xx2100001563 54 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 4 2 Mounting the controller with 19 rack mounting kit Continued ...

Страница 55: ...ntally fall Required equipment Note Spare part number Equipment See Standard toolkit for con troller on page 202 Standard toolkit 3HAC064927 001 FlexPendant Holder w t E stop cover Note The FlexPendant should always be placed in the holder when it is not used and it is not allowed to use by unauthorized person Continues on next page Product manual OmniCore E10 55 3HAC079399 001 Revision C Copyrigh...

Страница 56: ...767 Use this procedure to mount the bracket for the emergency stop to the FlexPendant holder Note illustration Action xx2000002356 Remove the four screws 1 Separate the rear part from the FlexPend ant holder 2 Continues on next page 56 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 4 3 Mounting the FlexPendant ho...

Страница 57: ...que 6 Nm 7 8 Nm xx2100000766 Screws BN33 Phillips pan head tapping screw ST3 5x16 4 pcs Refit the rear part and secure with the screws 5 Tightening torque 9 4 Nm 12 2 Nm xx2000002356 Continues on next page Product manual OmniCore E10 57 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 4 3 Mounting the FlexPendant holder Continued ...

Страница 58: ...e tape 2 xx2000002353 Press the holder onto the desired place 3 Hanging the FlexPendant holder with the bracket Use this procedure to hang the FlexPendant holder on any place where can hold the bracket like the door of the equipment Tip The bracket is included when the FlexPendant is purchased Continues on next page 58 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB A...

Страница 59: ...ally Use this procedure to hang the front part of the FlexPendant holder to the desired place Note illustration Action xx2000002356 Remove the four screws 1 Separate the rear part from the FlexPend ant holder 2 Clean the surface and make sure it is dry 3 Continues on next page Product manual OmniCore E10 59 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and co...

Страница 60: ... 4 Press the holder onto the desired place 5 xx2000002358 Use two M5 screws to secure the holder 6 60 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 4 3 Mounting the FlexPendant holder Continued ...

Страница 61: ...mperature on the incoming air is low enough If the temperature is too high then the fan will continue at reduced capacity until the temperature is low enough and then turn off the fan Changing the fan control functionality Use this procedure to change the fan control functionality Note Action Open the configuration editor in RobotStudio 1 In the topic Controller navigate to the type Fan Control 2 ...

Страница 62: ... damaged parts Connectors The following illustration shows the connection interface on the controller xx2100001299 Reference on the circuit dia gram Label Description Q0 Power Power inlet switch A X0 X0 Power inlet connector B X2 X2 Manipulator signal connector SMB C X1 X1 Motor connector D Continues on next page 62 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All ...

Страница 63: ...ff power to the controller It is also possible to restart the controller using the FlexPendant Note When restarting the controller wait until the computer and logic unit status LED Computer has turned off before turning on power again Safety lock for power inlet switch The following illustration shows the location of the safety lock for the power inlet switch xx2100001300 Continues on next page Pr...

Страница 64: ...m 30mm 18mm xx2100001310 64 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 5 1 Connectors on the OmniCore E10 controller Continued ...

Страница 65: ...ver and analog I O Measurement signals This class covers ordinary analogue signals such as analogue sig nals 4 20 mA 0 10V or signals below 1 MHz low speed digital signals RS232 RS485 digital on off signals limit switches en coders etc Class 2 slightly sens itive Gateway fieldbus connection computer link Data communication signals Applies to cables carrying very sensitive signals Signals with a fu...

Страница 66: ... 9 Multi wire 4 pair 0 2 24 1 8 2 1 2 3 2 6 Multi wire 6 pair 0 2 24 1 6 1 8 2 0 2 3 Multi wire 9 pair 0 2 24 5 6 6 5 7 2 7 9 Single wire 0 5 20 4 5 5 2 5 8 6 3 Multi wire 2 pair 0 5 20 3 6 4 2 4 7 5 1 Multi wire 4 pair 0 5 20 3 2 3 7 4 1 4 5 Multi wire 6 pair 0 5 20 2 8 3 2 3 6 4 0 Multi wire 9 pair 0 5 20 6 7 7 8 8 6 9 5 Single wire 0 75 18 5 4 6 2 6 9 7 6 Multi wire 2 pair 0 75 18 4 4 5 1 5 6 6...

Страница 67: ...side of the controller cabinet Cables should not be wound up like coils This could cause an magnetic field disturbing the signals There will also be a risk of overheating depending on the load Power signals These signals are very sensitive to interference To protect these signals they should not be laid along with the power signals In the cable each signal must be twisted with a neutral wire The s...

Страница 68: ...shielding of a d type connector xx1700001320 A A dimpled connector body makes multiple bonds to the mating connector body all around its periphery 360 bonding B Metal or metallized back shell makes 360 bond to the connector body C The cable shield is exposed and 360 clamped to the back shell A tight fit is a must Many other 360 bonding methods and types of 360 shielded connectors are also acceptab...

Страница 69: ...contacting surfaces For requirements on the marking of the supply ground connection inside the control cabinet refer to UL 508C For further details on how grounding systems should be designed refer to IEC 61000 5 2 For details of cross sectional area of PE refer to IEC 60204 1 Grounding installation For information on how to connect protective earth to the OmniCore controller cabinet see Connectin...

Страница 70: ...time for DC relays increases after neutralization especially if a diode is connected across the coil Varistors give shorter turn off times Neutralizing the coils lengthens the life of the switches that control them 0 V 24 V DC 1 2 3 0 V 24 V AC DC xx1200000961 1 The diode should be dimensioned for the same current as the relay coil and a voltage of twice the supply voltage 2 The varistor should be...

Страница 71: ...surement board Manipulator cable Handles supply to and feedback from any position switches Position switch cables option Handles communication with equipment fitted on the manipulator by the customer Customer cables option Handles power supply to and control of the external axes motors as well as feedback from the servo system Additional axes cables option These categories above are divided into s...

Страница 72: ...tandard connector it is sug gested to use the normal method to fit the connector Specifications The following describes the cable requirements for the main power connection to the OmniCore E10 controller Description Component Flexible oil resistant rubber Cable type 3C x 1 5 mm2 or AWG16 Cable area 72 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved...

Страница 73: ...st be installed Location of power supply connection xx2100001301 Location of grounding point A B C xx2100001302 Description Live L1 A Neutral N or Live L2 B Protective Earth PE grounding C Continues on next page Product manual OmniCore E10 73 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 5 5 Connecting power supply to and grounding the con...

Страница 74: ...l load current rating See Load current on page 38 Connecting the power The following procedure describes how to connect the main power to the controller CAUTION Always inspect the connector for dirt or damage before connecting it to the controller Clean or replace any damaged parts Action Connect the main power cable to the power inlet connector X0 and lock it by pressing the locking levers Tip Wh...

Страница 75: ...taching the FlexPendant another emergency stop shall be available CAUTION With a detached FlexPendant there is no visual identification of the operating mode CAUTION A FlexPendant that is not connected to the robot must be stored out of sight so that it cannot be mistaken for being in use CAUTION The FlexPendant connector shall only be used to connect the FlexPendant All external safety devices mu...

Страница 76: ...automatic mode 1 On the status bar tap the QuickSet button 2 Tap the Logout Restart tab 3 In the FlexPendant section tap Detach FlexPendant Continues on next page 76 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 5 6 Detaching and attaching a FlexPendant Continued ...

Страница 77: ...down timer is displayed 5 When the countdown is progressing detach the FlexPendant Continues on next page Product manual OmniCore E10 77 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 5 6 Detaching and attaching a FlexPendant Continued ...

Страница 78: ...for dirt or damage before attaching Clean or replace any damaged parts Attach the connector to the controller and tighten the locking ring or screws Note The OmniCore E10 controller has an adapter cable in between the controller and the FlexPendant xx2100001343 CAUTION Make sure that the emergency stop device is not pressed in before attaching the FlexPendant 78 Product manual OmniCore E10 3HAC079...

Страница 79: ...ller ports Network seg ment Process equipment local to this specific ro bot DEVICE Private Net work ABB service personnel MGMT Management FlexPendant connection HMI FlexPendant ABB Ability connection WAN 2 Ability Net work Public factory network WAN 1 Public Net work Continues on next page Product manual OmniCore E10 79 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Instal...

Страница 80: ...controller Note The management port shall never be used for more than one client at a time ABB Robot ics assumes no responsibility for any er rors hazards that may appear when more than one client is used MGMT Management 6 Specific connector for connecting the Flex Pendant HMI FlexPendant 7 Industrial networks Connection of industrial networks A factory wide I O network should be connected to the ...

Страница 81: ...nt to be aware that some ranges are reserved by the robot controller Configuring units or networks that collide with these reserved addresses will most likely cause network problems The following IP address ranges are allocated for internal functions on the controller 192 168 125 0 255 192 168 126 0 255 192 168 127 0 255 No other robot controller connected network can be on a subnet that overlaps ...

Страница 82: ...e FlexPendant As an exception to the reserved ranges mentioned in section Reserved IP addresses on page 81 the Ability Network is allowed to configure IP addresses within the reserved range 192 168 126 0 255 but not within 192 168 125 0 255 or 192 168 127 0 255 For security reasons only outbound access on port 53 DNS and 443 HTTPS are allowed The inbound access is blocked by an internal firewall a...

Страница 83: ...Network Settings and then Public Network 2 In the Public Network window configure the network interface and click OK xx2000000489 Defining network settings on the FlexPendant 1 On the start screen tap Settings and then select Network from the menu Continues on next page Product manual OmniCore E10 83 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissio...

Страница 84: ...be configured in the Firewall Manager settings The user cannot add new Network Services in the Firewall Manager and can only change the parameters Enable on Public Network Enable on Private Network and Enable on I O Network for pre registered Network Services Note Only users with UAS grant Modify network security properties can modify the firewall settings For more information see Technical refere...

Страница 85: ...I O connectors X5 I O interface xx2100001306 Continues on next page Product manual OmniCore E10 85 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 5 8 Descriptions for connectors ...

Страница 86: ...supply PWR_DO GND_DO should be supplied separately The 24V_IO_EXT rails must handle maximum output current of 4 A in total For connection details see Circuit diagram OmniCore E10 3HAC076810 008 Customer safety interface X9 Note The FlexPendant connector can only be used to connect a FlexPendant and CANNOT be used to connect any other devices All external safety devices must be connected from the c...

Страница 87: ...ions must be verified before use Safety functions must be tested regularly MON Description Pin Motors on push button input interface MON_PB 24 V power supplied by robot controller for motors on lamp and motors on push button use only It must not be used for any other functions 24V_MON Continues on next page Product manual OmniCore E10 87 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights...

Страница 88: ... controller for stop switch use only It must not be used for any other functions 24V_CH1 2 Safety loop high side AS1 GS1 AS2 GS2 Customer need to connect these pins to a 24 V power Safety loop low side AS1 GS1 AS2 GS2 Customer need to connect these pins to the reference ground of 24 V power 24 V power reference ground 0V_CH1_CH2 The controller is shipped with a default configuration that the autom...

Страница 89: ...ray area on the right side of the line represents the inner side of the controller In most applications it is required to connect automatic general stop switches It is highly recommended to connect the stop switches as one of the following figures Continues on next page Product manual OmniCore E10 89 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissio...

Страница 90: ...CH1 Customer_24V_CH2 Customer_0V_CH1 Customer_0V_CH2 A B C D Customer provided power xx2100001570 Note It is prohibited to connect the dual channel switch as shown in the following figure as this does not comply with the Cat 3 structure 0V_CH1_CH2 24V_CH1 0V_CH1_CH2 24V_CH2 0V_CH1_CH2 24V_CH1 0V_CH1_CH2 24V_CH2 A B AS1 GS1 AS1 GS1 AS2 GS2 AS2 GS2 AS1 GS1 AS1 GS1 AS2 GS2 AS2 GS2 xx2100001571 For mo...

Страница 91: ...The controller is shipped with a default configuration that emergency stop circuit is bypassed short circuited To enable the controller without any external emergency stop switches connect the safety circuit as shown in the following figure 0V_CH1_CH2 24V_CH1 ES1 ES1 0V_CH1_CH2 24V_CH2 ES2 ES2 A2 X5 17 19 20 18 13 15 16 14 xx2100001569 In most applications it is required to connect external emerge...

Страница 92: ...ed power ES1 ES1 ES2 ES2 ES1 ES1 ES2 ES2 ES1 ES1 ES2 ES2 ES1 ES1 ES2 ES2 xx2100001572 Note It is prohibited to connect the dual channel switch as shown in the following figure as this does not comply with the Cat 3 structure 0V_CH1_CH2 24V_CH1 0V_CH1_CH2 24V_CH2 0V_CH1_CH2 24V_CH1 0V_CH1_CH2 24V_CH2 A B ES1 ES1 ES2 ES2 ES1 ES1 ES2 ES2 xx2100001573 For more connections other than those illustrated ...

Страница 93: ...t a safety PLC or relay is needed ABB Safety Relay E1T 1 s 24DC is recommended ESOUT1 ESOUT1 Safety PLC or Relay Relay Output for Safety Input of Next Stage ESOUT2 ESOUT2 Safety PLC or Relay Relay Output for Safety Input of Next Stage Isola on Isola on K2 X15 Customer provided device 14 13 12 11 xx2000001763 Note State 0 of Emergency stop output shall be recognized as Emergency stop triggered Note...

Страница 94: ...pping functions on page 96 For more connections other than those illustrated above carefully assess the risk before use and contact your local ABB for support Customer optional power input X6 xx2100001308 24V_EXT 2 24V_EXT 1 0V_EXT 4 0V_EXT 3 24V_EXT is the optional external power supply input When the default power source is removed 24V_EXT can be used to provide the logic power to logic modules ...

Страница 95: ...n in the following table Value Parameter 24 V DC Voltage 5 to 5 Voltage tolerance 2 5 A Rated current Product manual OmniCore E10 95 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 5 8 Descriptions for connectors Continued ...

Страница 96: ...utomatic mode only Note It is not possible to configure both Automatic Stop and General Stop at the same time on the OmniCore E10 Note The dedicated discrete safety input to activate the protective stop function can be configured as either Automatic Stop AS or General Stop GS For simultaneous use of AS and GS support for a safety protocol is required See option SafeMove For more information about ...

Страница 97: ...3 Select the stop category For some manipulators only category 1 stop is available 4 After the configuration is done the safety configuration must be written to the controller and then a restart of the controller is required Tip See also the circuit diagram Circuit diagram OmniCore E10 Apply the configuration to the controller Note illustration Action xx1500000801 In the Visual SafeMove ribbon cli...

Страница 98: ... Expected result Action Deactivate any supervision functions that are signal activated 1 Move the robot for example with a move instruction 2 The robot will stop Set the signal configured to stop the robot in relev ant operating modes 3 Relevant operating modes are Auto Automatic mode General All modes EmergencyStop All modes Upgrading RobotWare When upgrading RobotWare there can be differences in...

Страница 99: ...the FlexPendant SoftStop This is a faster stop of the manipulator than SoftStop This stop is more stressing for the mechanics than SoftStop therefore there might be a deviation on path QuickStop Stops the RAPID program when the complete program is ex ecuted that means when the last instruction in the main routine has been completed Stop at End of Cycle Stops program execution after the current ins...

Страница 100: ...ks all robots will be stopped The current move instruction will be stopped immediately as a nor mal program stop but the program execution will continue with the next instruction StartMove must be executed to get the robot mov ing again StopMove The current move instruction and the program execution will be stopped immediately as a normal program stop A restart of the pro gram will continue the pr...

Страница 101: ...tructions Functions and Data types Other unexpected stops Description Type of stop In the control system there is a surveillance and monitoring function that can detect abnormal situations In such cases a stop will be initiated The robot controller must be restarted SysFail In the control system there is a monitoring function that can detect power failure In such cases a stop will be initiated Pow...

Страница 102: ...ision power cable 3HAC051736 003 Integr Vision ethernet cable Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit for controller on page 202 Standard toolkit ESD protective wrist band Required documents Note Article number Document 3HAC076810 008 Circuit diagram OmniCore E10 3HAC067707 001 Application manual Integrated Vision Installing Integra...

Страница 103: ...era 3 Connect the 24V power supply to the cameras from the other power supply 4 See Application manual Integrated Vision Connect wires to the inputs and output connectors as required 5 For more information about the option Integrated Vision see Application manual Integrated Vision Product manual OmniCore E10 103 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation a...

Страница 104: ...ecting power supply to and grounding the controller on page 73 Function tests Before commissioning perform the function tests in section Function tests on page 110 to verify that the safety features work properly 104 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 3 Installation and commissioning 3 7 Initial test before commissioning ...

Страница 105: ...ice on page 112 12 months Function test Enable device Function test of safety switches on page 113 12 months Function test Safety switches Function test of Automatic Stop on page 114 12 months Function test Auto stop tested if used Function test of General Stop on page 115 12 months Function test General stop tested if used Function test of external emergency stop on page 116 12 months Function te...

Страница 106: ...ling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Inspect connectors and cabling to make sure they are securely fastened and cabling not damaged 3 Inspect the fans and ventilation holes to make sure they are clean 4 After inspection Temporarily turn the power supply on Inspect the fans to make sure they function correctly Switch the power ...

Страница 107: ...quipment may shorten the life of paint work rust inhibitors signs or labels Always make sure that all protective covers are fitted to the controller before cleaning Never remove any covers or other protective devices when cleaning the outside of the controller Never use compressed air or spray with a high pressure cleaner Never leave the door open when cleaning the exterior Product manual OmniCore...

Страница 108: ...s using a soft cloth and water or a mild cleaning agent 3 Unlock the screen by tapping the buttons 4 Cleaning considerations The section below specifies some special considerations when cleaning the FlexPendant Use ESD Protection Use cleaning equipment as specified above Any other cleaning equipment may shorten the life time of the touch screen Check that all protective covers are fitted to the de...

Страница 109: ... cleaner Do not clean the device operating panel and operating elements with compressed air solvents scouring agent or scrubbing sponges Product manual OmniCore E10 109 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 4 Maintenance 4 3 2 Cleaning the FlexPendant Continued ...

Страница 110: ...ppears in the event log Note For collaborative robots the event mes sage 90518 Safety controller Emergency stop triggered appears by default The message 10013 Emergency stop state is also available in the event log Press the emergency stop device on the FlexPendant Note If the event message 20223 Emergency stop conflict appears in the event log or the event message 10013 Emergency stop state and 9...

Страница 111: ... be found This test is passed if it is possible to run the robot program in manual mode Change to Manual operating mode and Motors ON state and then run the robot in manual mode 3 If it is not possible to run the robot pro gram this test is failed and the root cause of the failure must be found This test is passed if it is possible to run the robot program in manual full speed mode Change to Manua...

Страница 112: ...og then the test has failed and the root cause of the failure must be found This test is passed if the event message 10012 safety guard stop state appears in the event log While still holding the three position en abling device pressed press the enabling device harder to the enable the device s third position 3 If the event message 10012 Safety guard stop state does not appear or if the event mess...

Страница 113: ...the brake function test Note Action Start the robot system and change the op erating mode to manual 1 This test is passed if the brakes are disen gaged and the manipulator can be moved Press the three position enabling device to the middle position and then hold the enabling device in this position 2 If the event message 50056 Joint collision appears in the event log then the test has failed and t...

Страница 114: ...ctivate the Automatic Stop for example by opening the connected robot cell door which has interlock connection with Auto matic Stop 2 If the event message 90523 Safety Control ler Protective Stop triggered does not ap pear in the event log then the test has failed and the root cause of the failure must be found 114 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All r...

Страница 115: ...ered appears in the event log Activate the General Stop 2 If the event message 90523 Safety Control ler Protective Stop triggered does not ap pear in the event log then the test has failed and the root cause of the failure must be found Product manual OmniCore E10 115 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 4 Maintenance 4 4 6 Function test of General Stop ...

Страница 116: ...e test is passed if the event message 10013 Emergency stop state appears in the event log Note For collaborative robots the event mes sage 90518 Safety controller Emergency stop triggered appears by default The message 10013 Emergency stop state is also available in the event log Press the emergency stop device Note If the event message 20223 Emergency stop conflict appears in the event log or the...

Страница 117: ...ent log Note For collaborative robots the event mes sage 90518 Safety controller Emergency stop triggered appears by default The message 10013 Emergency stop state is also available in the event log Press the emergency stop device Note If the event message 20223 Emergency stop conflict appears in the event log or the event message 10013 Emergency stop state and 90518 Safety controller Emer gency s...

Страница 118: ...med speed higher than 250 mm s 2 This test is passed if the speed of the robot does not exceed 250 mm s otherwise the test is failed and the root cause of the fail ure must be found Start the program in manual mode and measure the time it takes for the robot to travel the distance Tip To get accurate results use sensors or I O signals to measure the time 3 118 Product manual OmniCore E10 3HAC07939...

Страница 119: ...repair activity are listed in the respective procedures Safety information There are general safety information and specific safety information The specific safety information describes the danger and safety risks while performing specific steps in a procedure Make sure to read through the chapter Safety on page 13 before commencing any service work WARNING Wait at least three minutes after poweri...

Страница 120: ... Circuit diagram OmniCore E10 Removing the controller top cover Preparations Info illustration Action DANGER Before doing any work inside the cabinet disconnect the mains power For more information see Electrical safety on page 28 1 Removing the top cover Info illustration Action xx2100001329 Remove the attachment screws 1 Remove the top cover 2 Continues on next page 120 Product manual OmniCore E...

Страница 121: ...safety on page 28 1 Refitting the top cover Info illustration Action Screws Torx countersunk screw M4x10 8 pcs Refit the top cover using the location pins 1 Tightening torque 1 7 Nm 10 Secure it with the screws 2 xx2100001329 Product manual OmniCore E10 121 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 1 Opening the robot controller Continued ...

Страница 122: ...w abb com myABB Note Article number Spare part 3HAC078273 001 Small fan 3HAC078981 001 Fan bracket assembly 3HAC078983 001 Fan pressure bracket assembly Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit for controller on page 202 Standard toolkit ESD protective wrist band Continues on next page 122 Product manual OmniCore E10 3HAC079399 001 R...

Страница 123: ...le number Document 3HAC076810 008 Circuit diagram OmniCore E10 Continues on next page Product manual OmniCore E10 123 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 2 Replacing the fans Continued ...

Страница 124: ...The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Removing the controller top cover on page 120 Remove the top cover of the controller 3 Removing the small fan Note Illustration Action xx2100001330 Disconnect G1 G2 X1 1 Continues on next page 124 Product manual OmniCore E10 3HAC079399 001 Revision C ...

Страница 125: ...tting the small fan Note Illustration Action DANGER Before doing any work inside the cabinet disconnect the mains power For more information see Electrical safety on page 28 1 Continues on next page Product manual OmniCore E10 125 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 2 1 Replacing the small fans Continued ...

Страница 126: ...m ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 xx2100001332 Refit the fan into the fan bracket as sembly 3 xx2100001331 Insert the connector to the bracket 4 Continues on next page 126 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 2 1 Replacing the small fans Continued ...

Страница 127: ...the controller cover on page 121 Refit the top cover 1 Perform the function tests to verify that the safety features work properly see Function tests on page 110 2 Product manual OmniCore E10 127 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 2 1 Replacing the small fans Continued ...

Страница 128: ...siness Portal www abb com myABB Note Article number Spare part DSQC3087 3HAC074985 001 Power unit 3HAC078253 001 Harness Signal cable assembly Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit for controller on page 202 Standard toolkit ESD protective wrist band Continues on next page 128 Product manual OmniCore E10 3HAC079399 001 Revision C ...

Страница 129: ...on The unit is sensitive to ESD on page 41 2 xx2100001295 Removing the controller top cover on page 120 Remove the top cover of the controller 3 Removing the incoming mains connector Note Illustration Action Disconnect Q0 A1 X1 Two ground cables which con nects to the left cabinet frame 1 Pull the cable ties out from the locking holes Tip Take photos of the cable ties and locking holes before pull...

Страница 130: ...the locking holes Tip Take photos of the cable ties and locking holes before pulling out to have as a reference when refitting the cable ties 1 Disconnect A1 X13 A2 X12 A1 X2 T4 X17 A1 X11 T4 X13 A2 X13 G1 G2 X1 A1 X6 A2 X11 2 Continues on next page 130 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 3 Replacing the power unit Continue...

Страница 131: ... touch the connectors or the filter on the power unit 4 Refitting the power unit Refitting the power unit Note Illustration Action DANGER Before doing any work inside the cabinet disconnect the mains power For more information see Electrical safety on page 28 1 Continues on next page Product manual OmniCore E10 131 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 ...

Страница 132: ...tive to ESD on page 41 2 xx2100001295 Screws Torx pan head screw M4x8 4 pcs Refit the power unit and secure with the screws 3 Tightening torque 1 7 Nm 10 xx2100001335 xx2100001334 Insert the fan connector to the bracket 4 Continues on next page 132 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 3 Replacing the power unit Continued ...

Страница 133: ...onnect the mains power For more information see Electrical safety on page 28 1 Location of wrist strap button ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Insert the incoming mains connector into the front panel of the cabinet 3 Continues on next page Product manual O...

Страница 134: ... left cabinet frame 5 Concluding procedure Note Illustration Action Refitting the controller cover on page 121 Refit the top cover 1 Perform the function tests to verify that the safety features work properly see Function tests on page 110 2 134 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 3 Replacing the power unit Continued ...

Страница 135: ...are parts of the OmniCore E10 via myABB Business Portal www abb com myABB Note Article number Spare part DSQC3084 3HAC074966 001 Drive unit 3HAC075385 001 Harness DC BUS 3HAC075387 001 Harness EtherCAT 3HAC075386 001 Harness 24_SYS 3HAC078253 001 Harness Signal cable assembly Continues on next page Product manual OmniCore E10 135 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserve...

Страница 136: ...e the cabinet disconnect the mains power For more information see Electrical safety on page 28 1 Location of wrist strap button ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Removing the controller top cover on page 120 Remove the top cover of the controller 3 Continue...

Страница 137: ...ve as a reference when refitting the cable ties 1 Disconnect X1 T4 X7 T4 X8 T4 X9 T4 X15 X2 T4 X16 A2 X13 G1 G2 X1 T4 X5 A1 X4 T4 X3 A2 X9 T4 X1 A2 X10 2 xx2100001331 Release the fan connector from the bracket 3 Continues on next page Product manual OmniCore E10 137 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 4 Replacing the drive unit Continued ...

Страница 138: ...ct the mains power For more information see Electrical safety on page 28 1 Location of wrist strap button ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Continues on next page 138 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights r...

Страница 139: ...x2100001337 xx2100001331 Insert the fan connector to the bracket 4 Reconnect X1 T4 X7 T4 X8 T4 X9 T4 X15 X2 T4 X16 A2 X13 G1 G2 X1 T4 X5 A1 X4 T4 X3 A2 X9 T4 X1 A2 X10 5 Continues on next page Product manual OmniCore E10 139 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 4 Replacing the drive unit Continued ...

Страница 140: ...ure Note Illustration Action Refitting the controller cover on page 121 Refit the top cover 1 Perform the function tests to verify that the safety features work properly see Function tests on page 110 2 140 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 2 4 Replacing the drive unit Continued ...

Страница 141: ...Portal www abb com myABB Note Article number Spare part DSQC3090 3HAC074970 001 Computer and logic unit 3HAC078253 001 Harness Signal cable assembly Required tools and equipment Note For robots with the controller delivered to start in automatic mode a FlexPendant is required after the replacement to be able to change to automatic mode Continues on next page Product manual OmniCore E10 141 3HAC079...

Страница 142: ...ocation of wrist strap button ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Removing the controller top cover on page 120 Remove the top cover of the controller 3 Disconnecting the connectors to the computer and logic unit Note Illustration Action Disconnect A2 X9 T4 X...

Страница 143: ... the computer outside of the controller use the wrist strap button located on the side of the computer 3 Refitting the computer and logic unit Refitting the computer and logic unit Note Illustration Action DANGER Before doing any work inside the cabinet disconnect the mains power For more information see Electrical safety on page 28 1 Continues on next page Product manual OmniCore E10 143 3HAC0793...

Страница 144: ...n 4 Screws Torx pan head screw M4x8 3 pcs Fasten the computer and logic unit with the screws 5 Tightening torque 1 7 Nm 10 xx2100001338 Reconnecting the connectors to the computer and logic unit Note Illustration Action DANGER Before doing any work inside the cabinet disconnect the mains power For more information see Electrical safety on page 28 1 Continues on next page 144 Product manual OmniCor...

Страница 145: ...ettings include information such as controller type and serial number When the computer and logic unit has been replaced the serial number must be restored before any software can be installed or any licences can be imported Note When replacing the computer and logic unit both the serial number and licences are lost The serial number must be restored as described below Licences however can either ...

Страница 146: ...itions Tap Next to proceed 5 xx2000000007 Read the serial number on the front of the controller and type it in field Serial Number Tap Next 6 The system compares the downloaded file and the manually entered serial number to ensure that there is a match Tap Browse to open the hardware inform ation file from its location The restoration of the serial number is completed 7 146 Product manual OmniCore...

Страница 147: ...s Note The spare part numbers that are listed in the table can be out of date See the latest spare parts of the OmniCore E10 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC075553 001 Harness assembly SMB Motors power unit Continues on next page Product manual OmniCore E10 147 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 3 1 Replac...

Страница 148: ... on page 28 1 Location of wrist strap button ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Removing the controller top cover on page 120 Remove the top cover of the controller 3 Disconnecting the connectors to the computer and logic unit Note Illustration Action Discon...

Страница 149: ...es Tip Take photos of the cable ties and locking holes before pulling out to have as a reference when refitting the cable ties 2 xx2100001340 Remove the attachment screws on the front panel 3 xx2100001341 Slide the harness assembly a little up to release it from the front panel 4 Continues on next page Product manual OmniCore E10 149 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights res...

Страница 150: ...more information see Electrical safety on page 28 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001342 Refit the manipulator signal SMB and motors power unit harness assembly 3 Continues on next page 150 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2...

Страница 151: ...fit the cable ties according to the photo 6 Reconnecting the connectors to the computer and logic unit Note Illustration Action DANGER Before doing any work inside the cabinet disconnect the mains power For more information see Electrical safety on page 28 1 Continues on next page Product manual OmniCore E10 151 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 3 1 R...

Страница 152: ... X11 A1 X13 A2 X12 A2 X13 G1 G2 X1 3 Concluding procedure Note Illustration Action Refitting the controller cover on page 121 Refit the top cover 1 Perform the function tests to verify that the safety features work properly see Function tests on page 110 2 152 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 3 1 Replacing the manipulator ...

Страница 153: ...com myABB Note Article number Spare part Harness Mains connection 3HAC075416 001 Harness AC input with SW Mating connector for Power inlet 3HAC077706 001 Connector AC power inlet Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit for controller on page 202 Standard toolkit ESD protective wrist band Continues on next page Product manual OmniCor...

Страница 154: ...on The unit is sensitive to ESD on page 41 2 xx2100001295 Removing the controller top cover on page 120 Remove the top cover of the controller 3 Removing the incoming mains connector Note Illustration Action Disconnect Q0 A1 X1 Two ground cables which con nects to the left cabinet frame 1 Pull the cable ties out from the locking holes Tip Take photos of the cable ties and locking holes before pull...

Страница 155: ...n see Electrical safety on page 28 1 Location of wrist strap button ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 2 xx2100001295 Insert the incoming mains connector into the front panel of the cabinet 3 Continues on next page Product manual OmniCore E10 155 3HAC079399 001 Revision C ...

Страница 156: ...abinet frame 5 Concluding procedure Note Illustration Action Refitting the controller cover on page 121 Refit the top cover 1 Perform the function tests to verify that the safety features work properly see Function tests on page 110 2 156 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 3 2 Replacing the incoming mains connector Continued...

Страница 157: ...ted in the table can be out of date See the latest spare parts of the OmniCore E10 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC077870 001 Harness TPU adapter Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit for controller on page 202 Standard toolkit Continues on next page Product manual OmniCore E10 157 3H...

Страница 158: ...o ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 1 Disconnect the FlexPendant from the controller 2 xx1800001189 Remove the attachment screws for the power cable cover 3 xx1800001190 Remove the power cable cover 4 Continues on next page 158 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved...

Страница 159: ...llustration Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 1 Continues on next page Product manual OmniCore E10 159 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 4 1 Replacing the power cable and power cable cover Continued ...

Страница 160: ... 3 pcs xx1800001196 Refit the power cable cover and tighten the screws 4 Perform the function tests to verify that the safety features work properly see Function tests on page 110 5 160 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 4 1 Replacing the power cable and power cable cover Continued ...

Страница 161: ...ess Portal www abb com myABB Note Article number Spare part 3HAC065408 001 Joystick guard Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit for controller on page 202 Standard toolkit Required documents Note Article number Document 3HAC076810 008 Circuit diagram OmniCore E10 Continues on next page Product manual OmniCore E10 161 3HAC079399 00...

Страница 162: ... Remove the attachment screws 3 xx1800001199 Remove the joystick protection 4 Refitting the joystick protection Note Illustration Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety inform ation in section The unit is sensitive to ESD on page 41 1 Continues on next page 162 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 202...

Страница 163: ...stick protection 2 xx1800001206 Secure the screws 3 Countersunk head screw ST2 9 X 10 6 pcs Product manual OmniCore E10 163 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 5 Repair 5 4 2 Replacing the joystick protection Continued ...

Страница 164: ...via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC065419 001 Fasten strip Replacing the fasten strip Note Illustration Action Open the velcro on the fasten strip 1 Take the fasten strip out from the holes 2 Insert the new fasten strip into the holes one by one 3 Secure the velcro in a suitable length 4 164 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright...

Страница 165: ...d correctly fitted 2 Replace one thing at a time 3 Do not replace units randomly 4 Make sure that there are no loose screws turnings or other unexpected parts remaining after work has been performed 5 When the work is completed verify that the safety functions are working as intended Keep a track of history Make a historical fault log to keep track of problems over time Consult those working with ...

Страница 166: ...ities between hardware and software options and their configuration The robot recently had a software upgrade Check connections software versions The robot has recently been moved from one site to another an already working robot 166 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 1 Introduction to troubleshooting Continued ...

Страница 167: ...releasing the robot brakes on page 173 Problem starting or connecting the FlexPendant on page 176 Problem using the joystick on page 180 Controller fails to start on page 181 Reflashing firmware failure on page 182 Inconsistent path accuracy on page 183 Continues on next page Product manual OmniCore E10 167 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 2...

Страница 168: ...onnel trained by ABB or by ABB field engineers Recommended working procedure If no LEDs are lit on the controller during start up use this procedure to troubleshoot what might cause the problem Look at the following block diagram to understand how power is connected from incoming and forward Block diagram AC input Power inlet X0 Q0 Power unit A1 X1 X6 L1 L2 or N PE 24V_TRUNK Computer and logic uni...

Страница 169: ...that the power inlet switch Q0 has been switched on 1 Use a multimeter and insulating gloves Make sure that the system is supplied with power Make sure that the RCD and circuit breaker fuse if used are closed Measure incoming mains voltage and make sure the voltage is within the normal range 2 If incoming mains is not ok the problem is not in the robot control ler Troubleshoot incoming mains Conti...

Страница 170: ...l fix the connec tion If normal replace the power inlet See Replacing the in coming mains connector on page 153 Check that the AC input cable is properly connec ted 4 170 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 2 1 No LEDs are lit on the controller Continued ...

Страница 171: ...d on must be performed by personnel trained by ABB or by ABB field engineers Detailed working procedure Note Action For more details about the LEDs see Troubleshooting the computer and logic unit on page 193 Look at the computer and logic unit status LED Computer 1 For more details about the LEDs see Troubleshooting the power unit on page 191 Look at the power unit status LED 2 For more details ab...

Страница 172: ...changes in the system on page 172 New system configuration 1 Reset the RobotWare system The RAPID program and system parameters will be removed and the system will be set to default state but without system failure 2 Re implement your programs or configuration changes or 3 Selectively load contents from the previous system backup and correct possible errors when loading Rollback all changes in the...

Страница 173: ...roller while powered on must be performed by personnel trained by ABB or by ABB field engineers Recommended working procedure If the brakes do not release no robot movement is possible and a number of error log messages can occur Use this procedure to troubleshoot what might cause the problem Look at the following block diagram to understand how power is connected from incoming and forward Block d...

Страница 174: ...the brake Test the brake release Brake is OK Brake not OK Repair connec on Not OK Connec on not OK Connec on OK Troubleshoot brake release on manipulator drive unit T4 power unit A1 computer and logic unit A2 Problem solved Contact ABB Brake release is OK xx2100001558 Continues on next page 174 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Trou...

Страница 175: ... is not repair the connec tion and go to step 5 If it is ok go to the next step Check that the connection from the main drive unit to the power unit is ok T4 X13 A1 X11 3 If it is not working properly the brake release board on the manipulator might be broken Contact your local ABB for more information If the brakes work normally troubleshoot the computer and logic unit and the power unit one by o...

Страница 176: ...ay the main interface xx1900000917 Required test equipment Equipment needed for troubleshooting Note Equipment Multimeter Insulating gloves 3HAC076810 008 Circuit diagram OmniCore E10 Preparations Action Make sure that the controller is switched on 1 Wait 30 s 1 min to enable start up sequence Check the FlexPendant for errors and warnings 2 Continues on next page 176 Product manual OmniCore E10 3H...

Страница 177: ...se this procedure to troubleshoot what might cause the problem Look at the following block diagram to understand how power is connected from incoming and forward Block diagram Computer and logic unit A2 X8 HMI Extension cable FlexPendant xx2100001555 Continues on next page Product manual OmniCore E10 177 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 2 5 ...

Страница 178: ...cedure Note Action See Operating manual OmniCore Try resetting the FlexPendant using the reset button located next to the USB port 1 If it is not connected repair the connection and go to step six Check that the extension cable is correctly con nected to the controller through the HMI signal connector 2 Check the pins in the connector If it is ok go to the next step Continues on next page 178 Prod...

Страница 179: ...amage 4 If possible test by connecting another FlexPend ant This is to eliminate the FlexPendant and cable as error sources Test the FlexPendant with a different controller to eliminate the controller as error source 5 If it is not ok contact your local ABB Check that the FlexPendant works normally Tip This is detailed in section Troubleshooting the FlexPendant on page 187 6 Product manual OmniCor...

Страница 180: ... that the joystick lock is not activated 1 Make sure the controller is in manual mode 2 Make sure the FlexPendant is connected cor rectly to the controller 3 If the joystick is still not working then replace the FlexPendant Press the reset button located next to the USB port on the back of the FlexPendant Note The reset button only resets the FlexPendant not the system on the controller 4 180 Prod...

Страница 181: ...start in RobotWare Installation Utilities mode Forcing startup of the RobotWare Installation Utilities mode Repeat the following action two times in a row 1 Turn on the main power switch 2 Wait for approximately 15 seconds Note The Computer LED should be in flashing red state 3 Turn off the main power switch The installed system is de selected and in the next startup the RobotWare Installation Uti...

Страница 182: ...roblem Note Action Read the message to see which unit has failed 1 If the relevant unit has been replaced recently make sure that the versions of the old and the new unit are identical 2 Check the software versions 3 If RobotWare has been updated recently make sure that the versions of the old and the new unit are identical 4 If the problem remains contact your local ABB for information about whic...

Страница 183: ...ion Remove the obstacles Study the path of the robot in motion to find if an external force for example an external cable package is colliding with or restricting the movement of the robot 1 Improve the ventilation around the robot In high temperature environments the material in the robot can expand thereby causing inconsistent path accuracy 2 How to define these are described in Oper ating manua...

Страница 184: ...ed in section Problem re leasing the robot brakes on page 173 Make sure the robot brakes work prop erly 9 The swivel has an in built resistance that needs to be set in the system parameters If applicable Check the setting for the swivel 10 184 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 2 9 Inconsistent path accuracy Continu...

Страница 185: ...be performed by personnel trained by ABB or by ABB field engineers Recommended working procedure If the controller seems to be overheated use this procedure to troubleshoot what might cause the problem Detailed working procedure Note Action Check that the standard fans are working 1 See Troubleshooting the power unit on page191 and Troubleshoot ing the drive unit on page 188 If the problem remains...

Страница 186: ... section All LEDs on the respective units and their significance are described in the following sections Units with LEDs in the controller Troubleshooting the drive unit on page 188 Drive unit Troubleshooting the power unit on page 191 Power unit Troubleshooting the computer and logic unit on page193 Computer and logic unit 186 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2...

Страница 187: ...ed next to the USB port 1 Note If protective gloves are used these must be compatible with touch screens when using the FlexPend ant If the FlexPendant is not responding or does not operate correctly see Problem starting or con necting the FlexPendant on page 176 2 Check the cable for connections and integrity 3 Check the 24 V power supply 4 Read the error event log message and follow any instruct...

Страница 188: ...stration shows the location of the drive unit in the controller xx2100001323 Continues on next page 188 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 3 3 Troubleshooting the drive unit ...

Страница 189: ...and the power unit Ethernet LEDs Green Off 10 Mbps data rate is selected On 100 Mbps data rate is selected Yellow Flashing The two units are communicating on the Ethernet channel Steady A LAN link is established Off A LAN link is not established Continues on next page Product manual OmniCore E10 189 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 3 3 Troub...

Страница 190: ... steady Drive unit is operational If the LED does not turn steady green after 30 60 sec the status indicator LED can be used to identify the following issues No color Power to the drive unit is missing Red steady Internal error Red flashing Firmware error or self test failure Green flashing Communication error to another module Drive unit status LED 190 Product manual OmniCore E10 3HAC079399 001 R...

Страница 191: ... power unit in the controller xx2100001324 LEDs The illustration below shows the LEDs on the power unit xx2100001561 Continues on next page Product manual OmniCore E10 191 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 3 4 Troubleshooting the power unit ...

Страница 192: ...t is operational If the LED does not turn steady green after 30 60sec then the status indicator LED can be used to identify the following issues No color Power to the power unit is missing Red steady Internal error Red flashing Firmware error or self test failure Power unit status LED No color Voltage between DC DC 60 VDC Red Voltage between DC DC 60 VDC High voltage warn ing 192 Product manual Om...

Страница 193: ...gic unit in the controller xx2100001325 LEDs The illustration below shows the LEDs on the computer and logic unit xx2100001559 Continues on next page Product manual OmniCore E10 193 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 6 Troubleshooting 6 3 5 Troubleshooting the computer and logic unit ...

Страница 194: ...g continuously Failed to load the operating system Restart the controller See Controller fails to start on page 181 Replace the computer and logic unit if the problem remains Green even flashing continuously 1Hz Failure during start up Check error messages on FlexPendant See Controller fails to start on page 181 Green uneven flashing RobotWare Installation Utilities mode The Auto mode LED indicate...

Страница 195: ...cording to their nature which is all iron together and all plastic together and disposed of accordingly These parts must also be disposed of in accordance with the current legislation of the country in which the robot and control unit are installed Disposal of storage media Before disposal of any storage equipment anything from an SD card to a complete controller make sure that all sensitive infor...

Страница 196: ... see table below xx1800000058 Materials used in the product The table specifies some of the materials in the product and their respective use throughout the product Dispose components properly according to local regulations to prevent health or environmental hazards Example application Material Heat sinks on power unit and drive unit Aluminium Computer and logic unit Batteries Lithium Electronics ...

Страница 197: ...m Cadmium Mercury Lead Cabinet Drive unit Power unit Computer and logic unit x Small fan x Cable harness Accessories This table was developed according to the provisions of SJ T 11364 The content of such hazardous substance in all homogeneous materials of such com ponent is below the limit required by GB T 26572 x The content of such hazardous substance in a certain homogeneous materials of such c...

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Страница 199: ...er includes general information complementing the more specific information in the different procedures in the manual Product manual OmniCore E10 199 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 8 Reference information 8 1 Introduction ...

Страница 200: ...General requirements normative reference from ISO 10218 1 IEC 60204 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity standard for industrial environments IEC 61000 6 2 Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments IEC 61000 6 4 Safety of machinery Safety related parts of control systems Part 1 General principles for ...

Страница 201: ... 37 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 Product manual OmniCore E10 201 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 8 Reference information 8 3 Unit conversion ...

Страница 202: ...instructions Standard toolkit for controller Description Tool Tx10 Screw driver Torx Tx20 Screw driver Torx Tx25 Screw driver Torx Tx25 Ball tipped screw driver Torx 4 mm Screw driver flat blade 8 mm Screw driver flat blade 12 mm Screw driver flat blade Phillips 1 Screw driver 8 mm Box spanner Toolkit recommended for troubleshooting Note Tool Contents as specified above Normal shop tools Multimete...

Страница 203: ... Any special torque specified overrides the standard value Use the correct tightening torque for each type of screw joint Only use correctly calibrated torque keys Always tighten the joint by hand and never use pneumatical tools Use the correct tightening technique i e do not jerk Tighten the screw in a slow flowing motion Maximum allowed total deviation from the specified value is 10 The table be...

Страница 204: ...njury ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg Example Below is an example of how a weight specification is presented CAUTION The transformer weighs 55 kg All lifting equipment used must be sized accordingly 204 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 8 Reference information 8 6 Weig...

Страница 205: ... of lifting accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories The instructions delivered with the lifting accessories should be stored for later reference Product manual OmniCore E10 205 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 8 Reference information 8 7 Lifting accessories and lifting instruc...

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Страница 207: ...ructions given in the related product manuals must be strictly followed If there are any problems contact your local ABB for support L2 spare parts To replace the L2 parts require specialized training and might need special tools Only ABB field service personnel or qualified personnel trained by ABB can replace L2 parts Continues on next page Product manual OmniCore E10 207 3HAC079399 001 Revision...

Страница 208: ...e Removed parts and spare parts must not be disassembled or opened Continues on next page 208 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 Controller parts ...

Страница 209: ...pare part level Type Description Spare part num ber L1 DSQC3084 Drive unit 3HAC074966 001 Continues on next page Product manual OmniCore E10 209 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 1 Controller system parts ...

Страница 210: ... Description Spare part num ber L1 DSQC3087 Power unit 3HAC074985 001 Continues on next page 210 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 1 Controller system parts Continued ...

Страница 211: ...e part level Type Description Spare part num ber L1 Harness TPU adapter 3HAC077870 001 Product manual OmniCore E10 211 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 1 Controller system parts Continued ...

Страница 212: ...e part num ber L1 Harness Mains connection Harness AC input with SW 3HAC075416 001 L1 Mating connect or for Power in let Connector AC power inlet 3HAC077706 001 212 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 2 Mains connection parts ...

Страница 213: ... xx2100001321 Spare part level Type Description Spare part num ber L1 Computer and logic unit 3HAC074970 001 Product manual OmniCore E10 213 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 3 Logic parts ...

Страница 214: ...12 Spare part level Type Description Spare part num ber L1 Fan bracket assembly 3HAC078981 001 Continues on next page 214 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 4 Cabinet parts ...

Страница 215: ...ly 3HAC078983 001 Connector computer interface xx2100001315 Spare part level Type Description Spare part num ber L1 Connector computer interface 3HAC076187 001 Continues on next page Product manual OmniCore E10 215 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 4 Cabinet parts Continued ...

Страница 216: ...re part level Type Description Spare part num ber L1 Small fan 3HAC078273 001 216 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 4 Cabinet parts Continued ...

Страница 217: ... 12 5 mm camera lens LFC 12 5F 3HAC053944 002 L1 16 mm camera lens LFC 16F1 3HAC053944 003 L1 25 mm camera lens LFC 25F1 3HAC053944 004 L1 DSQC1020 Integr Vision camera med Res 3HAC053953 001 L1 DSQC1021 Integr Vision camera high res 3HAC053954 001 L1 Integr Vision power cable 3HAC051753 003 L1 Integr Vision ethernet cable 3HAC051736 003 Continues on next page Product manual OmniCore E10 217 3HAC0...

Страница 218: ...vel Type Description Spare part num ber L1 Rack mounting kit 3HAC077631 001 218 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 5 Miscellaneous parts Continued ...

Страница 219: ...1 Harness EtherCAT 3HAC075387 001 L1 Harness 24_SYS 3HAC075386 001 Harness signal cable asm xx2100001314 Spare part level Type Description Spare part num ber L1 Harness Signal cable assembly 3HAC078253 001 Product manual OmniCore E10 219 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 1 6 Cables ...

Страница 220: ... DSQC3060 FlexPendant 3HAC064211 001 A L1 FlexPendant Holder w t E stop cover 3HAC064927 001 B L1 Power cable cover 3HAC065401 001 C L1 Joystick guard 3HAC065408 001 D L1 FlexPendant power cable 3 m 3HAC064448 002 E L1 FlexPendant power cable 10 m 3HAC064448 001 L1 Fasten strip 3HAC065419 001 F 220 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 ...

Страница 221: ...r cable angled connector 3 m L1 3HAC072351 002 Power cable angled connector 7 m L1 3HAC072351 003 Power cable angled connector 15 m Signal cables IRB 1100 1300 910INV 920 Singal cable level Article number Singal cable length L1 3HAC067446 001 Signal cable shielded 3 m L1 3HAC067446 002 Signal cable shielded 7 m L1 3HAC067446 003 Signal cable shielded 15 m Signal cables IRB 1200 Singal cable level ...

Страница 222: ...20 CP CS cable level Article number CP CS cable length L1 3HAC067449 001 3 m L1 3HAC067449 002 7 m L1 3HAC067449 003 15 m 222 Product manual OmniCore E10 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 3 2 Customer cables CP CS connectors option ...

Страница 223: ...X code Ethernet floor cable level Article number Ethernet floor cable length L1 3HAC067447 002 Eth RJ45_X floor cable 7 m L1 3HAC067447 003 Eth RJ45_X floor cable 15 m Product manual OmniCore E10 223 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved 9 Spare parts 9 3 3 Customer cables Ethernet floor cables ...

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Страница 225: ... drive unit LED 189 replacing 135 E earth fault protection 73 emergency stop 20 function test 110 emergency stops 22 enabling device 23 function test 112 EN ISO 13849 1 14 environmental information 196 ESD damage elimination 41 sensitive equipment 41 esd elimination 41 F fan replacing 122 silencing 61 fan control functionality 61 faulty calibration 183 faulty TCP definition 183 fire extinguishing ...

Страница 226: ...n classes 38 protection type 38 protective equipment 15 protective stop definition 20 protective wear 15 R rack mounting 53 RCD 73 recovering from emergency stops 22 recycling 196 reduced speed control function test 118 reflashing firmware failure 182 regional regulations 27 removing covers 120 replacements report 119 report replacements 119 required performance level PLr 14 residual current devic...

Страница 227: ...function test 112 tightening torque 203 TPU connecting disconnecting 75 transportation conditions 37 troubleshooting safety 32 U upcycling 196 users requirements 15 V validity and responsibility 13 W weight 37 wrist strap 41 Product manual OmniCore E10 227 3HAC079399 001 Revision C Copyright 2019 2022 ABB All rights reserved Index ...

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Страница 230: ... 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 3HAC079399 001 Rev C en Copyright 2019 2022 ABB All rights reserved Specifications subject to change without notice ...

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