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.3.Rotate axes 5 and 6 so that you can see screws in the clamping sleevethrough the hole.4.Disconnect the clamping sleeve.5.Undo screws and remove the wrist.To assemble:6.Mount the wrist, tighten screws to a torque of 8.3 Nm ±10%.Note! The grease nipple on the tilt house should be pointing against the base whenthe axis 4 is in the calibration position.7.Screw the clamping sleeves together using screws.8.Replace the plastic plugs.9.Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screwed joint of wrist/tubular shaft, item : 8.3 Nm ±10%Product Manual IRB 1400 33 The Wrist and Axes 5 and 6 Repairs7.2 Dismantling the complete drive mechanism of axes 5 and 6See foldouts 8 and 9 in the list of spare parts.To dismantle:1.Dismantle the wrist as in section 7.1.2.Loosen the connectors on the motors of axes 5 and 6.3.Undo screws.4.Squeeze the drive shafts () together at the tip of the tubular shaft, in order thatthey can pass through the tube.5.Pull out the complete drive mechanism of axes 5 and 6.To assemble:6.Install the drive mechanism in the tubular shaft.7.Tighten screws to a torque of 8.3 Nm ±10%.8.Insert the cabling.9.Mount the wrist as in section 7.1.Tightening torque:Screwed joint of the drive mechanism, item : 8.3 Nm ±10%7.3 Changing the motor or driving belt of axes 5 and 6See foldout 9 in the list of spare parts.To dismantle:1.Dismantle the wrist as in section 7.1.2.Dismantle the drive mechanism as in 7.2.3.Undo screws and remove the appropriate motor.4.If the driving belt is to be changed, both motors must be removed.5.Undo screws and remove plate.34 Product Manual IRB 1400 Repairs The Wrist and Axes 5 and 6To assemble:6.Install the driving belts.7.Mount the plate using screws.N.B.Do not forget the nuts of the motors.8.Install the motors.9.Push the motors in sideways to tension the belts.Use tool 3HAA 7601-050.Tighten screws to a torque of 4.1 Nm.10.Rotate the drive shafts.Check the tension on the belt.11.Install the drive mechanism as in section 7.2.12.Mount the wrist as in section 7.1.13.Calibrate the robot as in Chapter 9, Calibration.Tightening torque:Screws for motors and plate, item : 4.1 Nm.Tool:To adjust the belt tension: 3HAA 7601-0507.4 Measuring play in axes 5 and 6Axis 5.Axis 4 shall be turned 90o.The maximum accepted play in axis 5 is 4.7 arc.minuteswhen loading axis 5 with a moment of 4.8 Nm in one direction, unloading to 0.24 Nmand start measuring the play, loading in the other direction with 4.8 Nm unloading to0.24 Nm and reading the play.This correspond to play of 0.27 mm on a radius of 200mm when the load is F=40 N and 2 N on radius 120 mm.12035F200Product Manual IRB 1400 35 The Wrist and Axes 5 and 6 RepairsAxis 6.The maximum accepted play in axis 6 is 12.8 arc.minutes when loading axis 6 with amoment of 4.2 Nm in one direction, unloading to 0.2 Nm and start measuring the play,loading in the other direction with 4.2 Nm unloading to 0.2 Nm and reading the play.This correspond to a play of 0.37 mm on a radius of 100 mm when the load is F=42 Nand 2 N.100F36 Product Manual IRB 1400 Repairs Motor Units8 Motor UnitsGeneralEach axis of the manipulator has its own motor unit, comprising:- a synchronous motor- a brake (built into the motor)- a feedback device.There are a total of six motors mounted in the manipulator.The power and signal cables are run to the respective motor from the cable connectorpoints on the manipulator.The cables are connected to the motor units by connectors.The drive shaft of the electric motor forms a part of the gearbox of the manipulatoraxis.A brake, operated electromagnetically, is mounted on the rear end of the motorshaft and a pinion is mounted on its drive end.The brake releases when power is sup-plied to the electromagnets.N.B.There is a feedback device mounted on each motor unit.The device is installed bythe supplier of the motor and should never be removed from the motor.The motor need never be commutated.The commutation value of the motors is: 1.570800.The motor, resolver and brakes are regarded as one complete unit.Product Manual IRB 1400 37 Motor Units Repairs38 Product Manual IRB 1400 Repairs Calibration9 CalibrationGeneralThe robot measurement system consists of one feedback unit for each axis and a meas-urement board which keeps track of the current robot position.The measurement boardmemory is battery-backed.The measurement system needs to be carefully calibrated (as in Chapter 9.1) if any ofthe resolver values change.Resolver values change when any- part of the manipulator that affects the calibration position is replaced.The system needs to be coarsely calibrated (as in Chapter 9.2) if the contents of the rev-olution counter memory are lost.The memory may be lost if:- the battery is discharged.- a resolver error occurs- the signal between the resolver and measurement board is interrupted.9.1 Adjustment procedure using calibration equipment (fine calibration)The axes are calibrated in numerical order, i.e.1 - 2 - 3 - 4 - 5 - 6.1.Move the robot to the calibration position, corresponding to the calibration marks,as shown in Figure 17.2.Calibrate all the axes as described below.3.Press the Misc.window key (see Figure 6).7 8 94 5 61 2 312P1 P2P3Figure 6 The Misc.window key.4.Choose Service from the dialog box that appears on the display.Product Manual IRB 1400 39 Calibration Repairs5.Press Enter.6.Choose View: Calibration.The window shown in Figure 7 appears.File Edit View ComService CommutationMech Unit Status1(4)Robot Not CalibratedFigure 7 The window shows whether or not the robot system units are calibrated.The calibration status can be any of the following:- SynchronizedAll axes are calibrated and their positions are known.The unit is ready for use.- Not updated Rev.CounterAll axes are fine-calibrated but the counter on one (or more) of the axes isNOT updated.That axis or axes must therefore be updated as described inChapter 9.2.- Not calibratedOne (or more) of the axes is NOT fine-calibrated.That axis or axes musttherefore be fine-calibrated as described in Chapter 9.1.7.If there is more than one unit, select the desired unit in the window in Figure 7.Choose Calib: Calibrate and the window shown in Figure 8 will appear.Calibration!RobotTo calibrate, include axes and press OK.Axis Status1(6)X 1 Not Fine CalibratedX 2 Not Fine Calibrated3 Fine Calibrated4 Fine CalibratedX 5 Not Fine CalibratedX 6 Not Fine CalibratedIncl All Cancel OKFigure 8 The dialog box used to calibrate the manipulator.40 Product Manual IRB 1400 Repairs Calibration8.Press the function key All to select all axes, if all axes are to be calibrated.Otherwise, select the desired axis and press the function key Incl (the selected axisis marked with an x).9.Confirm your choice by pressing OK.The window shown in Figure 9 appears.Calibration!Robot- - - - - WARNING - - - - -The calibration for all marked axeswill be changed.It cannot be undone.OK to continue?Cancel OKFigure 9 The dialog box used to start the calibration.10.Start the calibration by pressing OK.An alert box is displayed during the calibration
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