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ABB M2000 Product Manual

Also see for M2004: Product manualSystem settingsSystem settingsReference manualProduct manual

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Contents
  1. Table Of Contents
  2. Table Of Contents
  3. Overview
  4. Product documentation, M2000/M2000A
  5. Product documentation, M2004
  6. How to read the product manual
  7. Safety
  8. General safety information
  9. General information
  10. Limitation of Liability
  11. Related information
  12. Safety risks
  13. Safety risks related to gripper
  14. Safety risks related to tools/workpieces
  15. Safety risks related to pneumatic/hydraulic systems
  16. Safety risks during operational disturbances
  17. Safety risks during installation and service
  18. Risks associated with live electric parts
  19. Safety actions
  20. Fire extinguishing
  21. Emergency release of the robot's arm
  22. Brake testing
  23. Risk of disabling function "Reduced speed 250 mm/s
  24. Safe use of the Teach Pendant Unit
  25. Work inside the manipulator's working range
  26. Safety related instructions
  27. DANGER - Moving manipulators are potentially lethal
  28. WARNING - The unit is sensitive to ESD
  29. WARNING - Safety risks during work with gearbox oil
  30. Installation and commissioning
  31. Unpacking
  32. Working range, IRB 140
  33. Risk of tipping/Stability
  34. On-site installation
  35. Manually releasing the brakes
  36. Orienting and securing the manipulator
  37. Restricting the working space
  38. Fitting equipment on manipulator
  39. Loads
  40. Suspended mounting
  41. Bolt pattern
  42. Electrical connections
  43. Maintenance
  44. Maintenance schedules
  45. Inspection activities
  46. Inspection, robot cabling
  47. Inspection, timing belts
  48. Cleaning activities
  49. Changing/ replacing activities
  50. Repair
  51. Complete robot
  52. Replacement of complete upper arm
  53. Replacement of complete lower arm
  54. Replacement of base, spare
  55. Upper arm
  56. Replacement of damper, axis 3
  57. Replacement of damper, axis 5
  58. Replacement of cover, arm housing
  59. Lower arm
  60. Replacement of damper, axis 2
  61. Replacement of indicator lamp
  62. Frame and base
  63. Replacement of console
  64. Replacement of serial measurement unit and battery pack
  65. Replacement of control cable
  66. Motors
  67. Replacement of motor, axis 2
  68. Replacement of motor and timing belt, axis 3
  69. Replacement of motor, axis 4
  70. Replacement of motor and timing belt, axes 5 or 6
  71. Adjustments and measurements
  72. Measuring the gear play, axis 6
  73. Gearboxes
  74. Service work on gearbox, axis 4
  75. Calibration information
  76. Calibration methods
  77. Calibration scales and correct axis position
  78. Calibration movement directions for all axes
  79. Updating revolution counters
  80. Checking the calibration position
ABB M2000 Product Manual Manual pdf 47 page image
2 Installation and commissioning2.2.2. Working range, IRB 140453HAC023297-001 Revision: A2.2.2. Working range, IRB 140Working range axis 2 -3The illustration below shows the unrestricted working range axis 2-3.xx0200000058Pos Position at wrist centre Angle (degrees)X Z Axis 2 Axis 30 450 712 0° 0°1 70 1092 0° -90°2 314 421 0° +50°3 765 99 +110° -90°4 255 -119 +110° +4°5 -480 23 -90° -150°6 1 596 -90° +50°7 218 558 +110° -230°8 -670 352 -90° -90°
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This manual is suitable for:
M2004M2000M2000A
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