ABB IRB 14000 User manual

ROBOTICS
Product manual
IRB 14000

Trace back information:
Workspace 21B version a6
Checked in 2021-05-31
Skribenta version 5.4.005

Product manual
IRB 14000-0.5/0.5
IRC5
Document ID: 3HAC052983-001
Revision: P
© Copyright 2015 - 2021 ABB. All rights reserved.
Specifications subject to change without notice.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty 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 from ABB.
Original instructions.
© Copyright 2015 - 2021 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
9Overview of this manual ...................................................................................................................
14Product documentation ....................................................................................................................
16How to read the product manual ......................................................................................................
17Network security ...............................................................................................................................
191 Safety
191.1 Safety information .............................................................................................
191.1.1 Limitation of liability .................................................................................
201.1.2 Safety data .............................................................................................
221.1.3 Requirements on personnel ......................................................................
231.2 Safety signals and symbols .................................................................................
231.2.1 Safety signals in the manual ......................................................................
251.2.2 Safety symbols on manipulator labels .........................................................
311.2.3 Safety symbols on controller labels ............................................................
341.3 Robot stopping functions ....................................................................................
341.3.1 Protective stop and emergency stop ...........................................................
361.4 Installation and commissioning ............................................................................
401.5 Operation ........................................................................................................
401.5.1 Manually stopping or overriding the arm ......................................................
411.5.2 Unexpected movement of robot arm ...........................................................
421.6 Maintenance and repair ......................................................................................
421.6.1 Maintenance and repair ............................................................................
441.6.2 Emergency release of the robot axes ..........................................................
451.6.3 Brake testing ..........................................................................................
461.7 Troubleshooting ................................................................................................
471.8 Decommissioning ..............................................................................................
492 Installation and commissioning
492.1 Introduction to installation and commissioning .......................................................
502.2 Unpacking .......................................................................................................
502.2.1 Pre-installation procedure .........................................................................
542.2.2 Dimensions ............................................................................................
562.2.3 Working range ........................................................................................
592.2.4 Risk of tipping/stability .............................................................................
602.2.5 The unit is sensitive to ESD .......................................................................
612.3 On-site installation ............................................................................................
612.3.1 Lifting the robot with lifting accessories .......................................................
652.3.2 Lifting the robot without lifting accessories ...................................................
672.3.3 Orienting and securing the robot ................................................................
702.3.4 Manually releasing the brakes ...................................................................
722.3.5 Installing the signal lamp ..........................................................................
782.3.6 Electrical connections ..............................................................................
782.3.6.1 Robot cabling and connection points ...............................................
792.3.7 Risk of mechanical damage ......................................................................
802.3.8 Lead-through ..........................................................................................
822.3.9 Installation of ABB grippers .......................................................................
832.4 Controller ........................................................................................................
832.4.1 Overview ...............................................................................................
862.4.2 Connections ...........................................................................................
862.4.2.1 Connecting power and the FlexPendant ...........................................
882.4.2.2 Connecting a PC and Ethernet based options ...................................
932.4.2.3 Connecting I/O signals .................................................................
952.4.2.4 Connecting fieldbuses ..................................................................
982.4.2.5 Connecting safety signals .............................................................
1032.4.3 I/O system .............................................................................................
1032.4.3.1 Local I/O devices .........................................................................
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1052.4.3.2 Conveyor tracking module .............................................................
1072.4.4 Memory functions ....................................................................................
1072.4.4.1 SD-card memory .........................................................................
1082.4.4.2 Connecting an USB memory ..........................................................
1092.4.5 Installation of add-ons ..............................................................................
1092.4.5.1 Installation of Local I/O devices ......................................................
1122.4.5.2 Installation of conveyor tracking module ..........................................
1142.4.6 What is Cartesian speed supervision? .........................................................
1152.5 Start of robot in cold environments ......................................................................
1162.6 Additional information for IRB 14000 .....................................................................
1173 Maintenance
1173.1 Introduction ......................................................................................................
1183.2 Maintenance schedule .......................................................................................
1183.2.1 Specification of maintenance intervals ........................................................
1193.2.2 Maintenance schedule .............................................................................
1213.3 Inspection activities ...........................................................................................
1213.3.1 Inspecting the information labels ................................................................
1253.3.2 Inspecting, signal lamp .............................................................................
1273.3.3 Inspecting, cable harness .........................................................................
1293.3.4 Inspecting, plastic and padding ..................................................................
1313.4 Replacement/changing activities ..........................................................................
1313.4.1 Replacing the battery pack ........................................................................
1363.5 Cleaning activities .............................................................................................
1363.5.1 Cleaning the IRB 14000 ............................................................................
1374 Repair
1374.1 Introduction ......................................................................................................
1384.2 General procedures ...........................................................................................
1384.2.1 Mounting instructions for sealings ..............................................................
1414.3 Arm and arm covers ..........................................................................................
1414.3.1 Replacing the complete arm .....................................................................
1564.3.2 Replacing the encapsulation and covers .....................................................
1594.4 Motors ............................................................................................................
1594.4.1 Replacing the axis-1 motor .......................................................................
1604.4.2 Replacing the axis-2 motor .......................................................................
1834.4.3 Replacing the axis-7 motor .......................................................................
1844.4.4 Replacing the axis-3 motor .......................................................................
1984.4.5 Replacing the axis-4 motor .......................................................................
2164.4.6 Replacing the axis-5 motor .......................................................................
2314.4.7 Replacing the axis-6 motor .......................................................................
2484.5 Mechanical stops ..............................................................................................
2484.5.1 Replacing the axis-1 mechanical stop .........................................................
2594.5.2 Replacing the axis-2 mechanical stop .........................................................
2674.5.3 Replacing the axis-7 mechanical stop .........................................................
2724.5.4 Replacing the axis-3 mechanical stop .........................................................
2804.6 Controller ........................................................................................................
2804.6.1 Replacing the computer ............................................................................
2884.6.2 Replacing the controller fan .......................................................................
2924.6.3 Replacing the capacitor bank ....................................................................
2994.6.4 Replacing the power supply ......................................................................
3034.6.5 Replacing the power distribution board .......................................................
3104.6.6 Replacing the external power distribution board ............................................
3164.6.7 Replacing the axis computer .....................................................................
3234.6.8 Replacing the left arm's drive board ............................................................
3334.6.9 Replacing the right arm's drive board ..........................................................
3414.6.10 Replacing the I/O board ............................................................................
3454.6.11 Replacing the SMB boards ........................................................................
3514.6.12 Replacing the EtherNet switch ...................................................................
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3554.6.13 Replacing the mass memory card ..............................................................
3584.6.14 Replacing the expansion board complete ....................................................
3714.6.15 Replacing the DeviceNet master ................................................................
3824.6.16 Replacing the fieldbus adapter ...................................................................
3874.7 Brake release harness .......................................................................................
3874.7.1 Replacing the brake release harness ..........................................................
3955 Calibration
3955.1 Introduction ......................................................................................................
3965.2 Calibration method ............................................................................................
3985.3 Calibration scale and correct axis position .............................................................
3995.4 Calibrating the robot ..........................................................................................
4075.5 Calibrating the robot for Absolute Accuracy ...........................................................
4115.6 Updating revolution counters ...............................................................................
4175.7 Calibration movement directions for all axes ..........................................................
4185.8 Verifying the calibration position ..........................................................................
4196 Robot description
4196.1 Robot type description .......................................................................................
4237 Decommissioning
4237.1 Introduction ......................................................................................................
4247.2 Environmental information ..................................................................................
4267.3 Scrapping of robot .............................................................................................
4278 Reference information
4278.1 Introduction ......................................................................................................
4288.2 Applicable standards .........................................................................................
4318.3 Unit conversion .................................................................................................
4328.4 Specification of screws .......................................................................................
4348.5 Screw joints ....................................................................................................
4358.6 Weight specifications .........................................................................................
4368.7 Standard toolkit ................................................................................................
4378.8 Special tools ....................................................................................................
4388.9 Lifting accessories and lifting instructions ..............................................................
439Index
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Overview of this manual
About this manual
This manual contains instructions for:
• mechanical and electrical installation of the robot
• maintenance of the robot
• mechanical and electrical repair of the robot.
Usage
This manual should be used during:
• installation, from lifting the robot to its work site and securing it to the
foundation, to making it ready for operation
• maintenance work
• repair work and calibration.
Who should read this manual?
This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
Prerequisites
A maintenance/repair/installation personnel working with an ABB Robot must:
• be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
Product manual scope
The manual covers covers all variants and designs of the IRB 14000. Some variants
and designs may have been removed from the business offer and are no longer
available for purchase.
Organization of chapters
The manual is organized in the following chapters:
ContentsChapter
Safety information that must be read through before performing
any installation or service work on robot. Contains general safety
aspects as well as more specific information on how to avoid
personal injuries and damage to the product.
Safety, service
Required information about lifting and installation of the robot.Installation and commis-
sioning
Step-by-step procedures that describe how to perform mainten-
ance of the robot. Based on a maintenance schedule that may
be used to plan periodical maintenance.
Maintenance
Step-by-step procedures that describe how to perform repair
activities of the robot. Based on available spare parts.
Repair
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Overview of this manual

ContentsChapter
Procedures that do not require specific calibration equipment.
General information about calibration.
Calibration information
Environmental information about the robot and its components.Decommissioning
Useful information when performing installation, maintenance
or repair work. Includes lists of necessary tools, additional doc-
uments, safety standards, etc.
Reference information
References
Documentation referred to in the manual, is listed in the table below.
Document IDDocument name
3HAC052984-001Product manual, spare parts - IRB 14000
3HAC052982-001Product specification - IRB 14000
3HAC054949-001Product manual - Grippers for IRB 14000
3HAC052986-001Operating manual - IRB 14000
3HAC050778-003Circuit diagram - IRB 14000
3HAC031045-001Safety manual for robot - Manipulator and IRC5 or OmniCore con-
troller i
3HAC042927-001Technical reference manual - Lubrication in gearboxes
3HAC021313-001Product manual - IRC5
3HAC050948-001Technical reference manual - System parameters
3HAC059109-001Application manual - Scalable I/O
3HAC050991-001Application manual - Conveyor tracking
iThis manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
DescriptionRevision
First edition.-
The following updates are done in this revision:
• Minor editorial changes.
• Changed article number for the ESD warning label and added
AbsAcc label, see Inspecting the information labels on page 121.
•Added figures for axis-4, axis-5 and axis-6 motors for removal and
refitting of the wave generator.
• Added reference to absolute accuracy calibration for some repair
procedures.
A
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Overview of this manual
Continued