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Product specificationArticulated robotIRB 140
IRB 140 - F
IRB 140 - CW
IRB 140 - CR
M2004/M2000
Product specification
Articulated robot3HAC 9041-1
Rev.6IRB 140
IRB 140 - F
IRB 140 - CW
IRB 140 - CRM2004/M2000
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, damages to persons or property, fit-ness 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 per-mission, and contents thereof must not be imparted to a third party nor be used for any unau-thorized purpose. Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its then current charge.
©Copyright 2004 ABB All right reserved.
ABB Automation Technologies ABRobotics
SE-721 68 VästeråsSweden
Table of Contents
1 Description 5
1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51.1.1 Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Foundry and Wash robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Clean Room robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Manipulator axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Manipulator Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Other technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Dimensions IRB 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Safety category 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Selecting the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Reduced speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Three position enabling device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Safe manual movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Over-speed protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Safeguarded space stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Delayed safeguarded space stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Collision detection (option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Restricting the working space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Hold-to-run control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Fire safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Safety lamp (option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Steam washable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Clean room standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Explosive environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Ambient temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Relative humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Illustration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.3.3 Load diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14IRB 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Mass £ 5 Kg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Mounting of equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.4 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.6 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.7 Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.8 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.9 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Signal connections on robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3HAC 9041-1 Rev.6 3
Table of Contents
2 Specification of Variants and Options 23
2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Manipulator colour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Connector kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Safety lamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3 Accessories 25
Basic software and software options for robot and PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Robot Peripherals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3HAC 9041-1 Rev.6 4
1 Description
1.1.1 Instruction
1 Description
1.1 Structure
1.1.1 Instruction
General IRB 140 is a 6-axis industrial robot, designed specifically for manufacturing indus-tries that use flexible robot-based automation. The robot has an open structure that is specially adapted for flexible use, and can communicate extensively with external systems.
Foundry and Wash robots
The robot versions Foundry and Wash are designed for harsh environments and have special surface treatment and paint for excellent corrosion protection. The connectors are designed for severe environment, and bearings, gears and other sensitive parts are high protected. The robots have the FoundryPlus protection which means that the whole manipulator is IP67 classified and steam washable.
Clean Room robots
The Clean Room robots are classified for clean room class 10 according to US Fed-eral Standard 209 or class 4 according to ISO 14644-1.
The robot is equipped with the IRC5 controller and robot control software, Robot-Ware for M2004 and with the S4Cplus controller and robot control software BaseWare OS for M2000. RobotWare och BaseWare OS supports every aspect of the robot system, such as motion control, development and execution of application pro-grams, communication etc. See Product Specification IRC5 for M2004 and Product Specification S4Cplus for M2000.Safety standards require a controller to be connected to the robot.
For additional functionality, the robot can be equipped with optional software for application support - for example gluing and arc welding, communication features - network communication - and advanced functions such as multitasking, sensor con-trol etc. For a complete description on optional software, see the Product Specifica-tion RobotWare Options.
3HAC 9041-1 Rev.6 5
1 Description
1.1.1 Instruction
Manipulator axes
Figure 1 The IRB 140 manipulator has 6 axes.
Axis 2
Axis 1
Axis 3
Axis 4
Axis 5
Axis 6
6 Rev.6 3HAC 9041-1
1 Description
1.1.2 Different robot versions
1.1.2 Different robot versions
General The IRB 140 is available in a number of different variants. They can all be mounted on floor, inverted or on wall in any angle. The high speed variant, IRB 140T, provides further reduced cycle time:
Manipulator Weight
Other technical data
Power consumption
Path E-E2-E3-E4 in the ISO Cube, maximum load.
Figure 2 Path E-E2-E3-E4 in the ISO Cube, maximum load
Environment adaption
Standard performance variants
High speed variants
Standard IRB 140 IRB 140T
Foundry IRB 140F IRB 140TF
Wash IRB 140CW IRB 140TCW
Clean room IRB 140CR IRB 140TCR
Data Description
Manipulator 98 kg (excluding the cables to the controller)
Data Description Note
Airborne noise level
The sound pressure level outside
< 70 dB (A) Leq (acc. to the working space Machinery directive 89/392 EEC)
Speed (mm/s) Power consumption (kW)
Max. 0.44
1000 0.39
500 0.36
100 0.34
X
Y
Z
P30
P40
P2
P10
E2
E4 E3
E1
250 mm
3HAC 9041-1 Rev.6 7
1 Description
1.1.2 Different robot versions
Dimensions IRB 140
Figure 3 View of the manipulator from the back, side and above (dimensions in mm).
204 177
448
273
70
352
360
810
595
380 65
402 123
70
R244Minimum turningradius
CL axis 1
CL
8 Rev.6 3HAC 9041-1
1 Description
1.1.2 Different robot versions
1.2 Safety/Standards
Standards The robot conforms to the following standards:
The robot complies fully with the health and safety standards specified in the EEC’s Machinery Directives.
Standard Description
EN ISO 12100-1 Safety of machinery, terminology
EN ISO 12100-2 Safety of machinery, technical specifications
EN 954-1 Safety of machinery, safety related parts of control systems
EN 60204 Electrical equipment of industrial machines
EN 61000-6-4 (option)
EMC, Generic emission
EN 61000-6-2 EMC, Generic immunity
EN 775 Manipulating industrial robots, safety
Standard Description
IEC 204-1 Electrical equipment of industrial machines
IEC 529 Degrees of protection provided by enclosures
Standard Description
ISO 10218 Manipulating industrial robots, safety
ISO 9787 Manipulating industrial robots, coordinate systems and motions
ISO 9409-1 Manipulating industrial robots, mechanical interface
Standard Description
ANSI/RIA R15.06/1999 (option)
Safety Requirements for Industrial Robots and Robot Systems
ANSI/UL 1740-1998 (option)
Safety Standard for Industrial Robots and Robotic Equipment
CAN/CSA Z 43403 (option)
Industrial Robots and Robot Systems - General Safety Requirements
US Federal Standard 209
Clean room classification
3HAC 9041-1 Rev.6 9
1 Description
1.1.2 Different robot versions
Safety The robot is designed with absolute safety in mind. It has a dedicated safety system based on a two-channel circuit which is monitored continuously. If any component fails, the electrical power supplied to the motors shuts off and the brakes engage.
Safety category 3 Malfunction of a single component, such as a sticking relay, will be detected at the next MOTOR OFF/MOTOR ON operation. MOTOR ON is then prevented and the faulty section is indicated. This complies with category 3 of EN 954-1, Safety of machinery - safety related parts of control systems - Part 1.
Selecting the operating mode
The robot can be operated either manually or automatically. In manual mode, the robot can only be operated via the teach pendant, i.e. not by any external equipment.
Reduced speed In manual mode, the speed is limited to a maximum of 250 mm/s (600 inches/min.).A speed limitation applies not only to the TCP (Tool Centre Point), but to all parts of the robot. It is also possible to monitor the speed of equipment mounted on the robot.
Three position enabling device
The enabling device on the teach pendant must be used to move the robot when in manual mode. The enabling device consists of a switch with three positions, meaning that all robot movements stop when either the enabling device is pushed fully in, or when it is released completely. This makes the robot safer to operate.
Safe manual movement
The robot is moved using a joystick instead of the operator having to look at the teach pendant to find the right key.
Over-speed protection
The speed of the robot is monitored by two independent computers.
Emergency stop There is one emergency stop push button on the controller and another on the teach pendant. Additional emergency stop buttons can be connected to the robot’s safety chain circuit.
10 Rev.6 3HAC 9041-1
1 Description
1.1.2 Different robot versions
Safeguarded space stop
The robot has a number of electrical inputs which can be used to connect external safety equipment, such as safety gates and light curtains. This allows the robot’s safety functions to be activated both by peripheral equipment and by the robot itself.
Delayed safeguarded space stop
A delayed stop gives a smooth stop. The robot stops in the same way as at normal program stop with no deviation from the programmed path. After approx. one second the power supplied to the motors shuts off.
Collision detection (option)
In case an unexpected mechanical disturbance like a collision, electrode stik etc appears, the robot will stop and slightly back off from its stop position.
Restricting the working space
The movement of each of the axes can be restricted using software limits.
Hold-to-run control
“Hold-to-run” means that you must depress the start button in order to move the robot. When the key is released the robot will stop. The hold-to-run function makes program testing safer.
Fire safety Both the manipulator and control system comply with UL’s (Underwriters Laborato-ries) tough requirements for fire safety.
Safety lamp (option)
The robot can be equipped with a safety lamp mounted on the manipulator. This is activated when the motors are in the MOTORS ON state.
3HAC 9041-1 Rev.6 11
1 Description
1.3.1 Introduction
1.3 Installation
1.3.1 Introduction
General IRB 140 is available in four different environmental adapted variants, one for normal industrial environment, one for foundry, one for other harsh environment, and one for clean room environment. An end effector, weighing a maximum of 5 kg, including payload, can be mounted on the robot’s mounting flange (axis 6). Other equipment, weighing a maximum of 1,5 kg, can be mounted on the upper arm.
For more information about mounting of extra equipment, see Figure 7 .
1.3.2 Operating requirements
Steam washable Foundry and Wash version
Clean room standards
Clean room manipulator US Federal Standard 209, class 10 or ISO 14644-1 class 4.
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Relative humidity
Robot version/ Protection standard
IEC529
All variants, manipulator IP67
Description Temperature
Manipulator during operation +5oC (41oF) to +45oC (113oF)
Complete robot during transportation and storage -25oC (-13oF) to +55oC (131oF)
For short periods (not exceeding 24 hours) up to +70oC (158oF)
Description Relative humidity
Complete robot during transportation and storage Max. 95% at constant temperature
Complete robot during operation Max. 95% at constant temperature
12 Rev.6 3HAC 9041-1
1 Description
1.3.2 Operating requirements
Mounting the manipulator
Maximum load in relation to the base coordinate system. See Figure 4:
Illustration
Figure 4 Hole configuration (dimensions in mm).
DataEndurance load in operation
Max. load at emergency stop
Force xy floorsuspended
wall
± 1300N± 1300N
± 2200N
± 3200N± 3200N
± 3900N
Force z floorsuspendedwall
-1000 ± 1000N+1000 ±1 000N± 1000N
-1000 ± 2000N+1000 ± 2000N± 2200N
Torque Mxy ± 1300Nm ± 2200Nm
Torque Mz ± 300Nm ± 750Nm
25H8 (2x)∅
0,25∅ A
80
13∅
3912
180
45°
155
AC Axis 1
25H8 (2x)∅
13∅
39
1
180
A
B
A
B
B - BA - A
3HAC 9041-1 Rev.6 13
1 Description
1.3.3 Load diagram
1.3.3 Load diagram
IRB 140 The robot is optimized for the rated load according to the load diagram and rated moment of inertia. These have been used in the performance tests. The maximum allowed load and moment of inertia are received from the formulas in Figure 6.
Figure 5 Rated weight for tool mounted on the mounting flange at different positions (center of gravity).
Load diagram "MIA"(Rated Performance)
0,000
0,050
0,100
0,150
0,200
0,250
0,300
0,350
0,400
0,450
0 0,05 0,1 0,15 0,2 0,25 0,3 0,35
L (m)
Z (m
)
1kg
5kg
4kg
3kg
2kg
100 150 200 250 300 35050
Z mm
L mm
100
150
200
250
300
350
50
400
450
65
Z = see the above diagram and the coordinate systemin the Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J0 = rated own moment of inertia
on the total handle weight = 0.012kgm2
14 Rev.6 3HAC 9041-1
1 Description
1.3.3 Load diagram
Definitions
Mass ≤ 5 Kg Axis 5
Axis 6
Figure 6 Own moment of inertia.
Mass kg
Length (Z, L) m
T Nm
J kgm2
Load Description
Maximum static load T5 = 9.81 • Mass • ≤ 8.5 Nm
T5i = 9.81 • Mass • (Z +0.065 + L/1.04) ≤ 11.4 Nm
Maximum dynamic load J5 = Mass • ((Z+0.065)2 +L2) + max (J0L)≤ 0.35 kgm2
Load Description
Maximum static load T6 = 9.81 • Mass • L ≤ 4.9 Nm
Maximum dynamic load J6 = Mass • L2 + J0Z ≤ 0.24 kgm2
(Z+0.065)2 +L2
Z
XCenter of gravityJOL = Maximum own moment of inertia
around the maximum vector in the X - Y - planeJOL = Maximum own moment of inertia around Z
3HAC 9041-1 Rev.6 15
1 Description
1.3.3 Load diagram
16
Mounting of equipment
Figure 7 The shaded area indicates the permitted position of the center of gravity for any extra equipment mounted (dimensions in mm).
74
70
M5 Depth 7.5 (2x)for equipmentMounting holes
62
51
M5 Depth 7.5 (2x)for equipmentMounting holes
185
D=220
D=
150
120
1,5 kg if 0 kg on the wrist
Note! Maximum 0.5 kg
0 kg if 1,5 kg onthe upper arm house
31
37
if 1.0 kg on the upper arm house
Note!Maximum 1 kg if 0,5 kg on the wrist
Rev.6 3HAC 9041-1
1 Description
1.3.3 Load diagram
Figure 8 The mechanical interface, mounting flange (dimensions in mm).
45o D=6 H7
M6 (4x)
R=20
A
A
∅ 0.05 B
(4x)90o 6
D=
25
9
A - A
D=
50 h
8
B
H8
+0.
033
-0
+0 -0
.039
+0.012-0
3HAC 9041-1 Rev.6 17
1 Description
1.4.1 Introduction
1.4 Maintenance and Troubleshooting
1.4.1 Introduction
General The robot requires only a minimum of maintenance during operation. It has been designed to make it as easy to service as possible:
• Maintenance-free AC motors are used.
• Oil is used for all gear boxes.
• The cabling is routed for longevity, and in the unlikely event of a failure, its modular design makes it easy to change.
• It has a program memory “battery low” alarm.
Maintenance The following maintenance is required:
• Changing batteries every third year.
The maintenance intervals depends on the use of the robot. For detailed information on maintenance procedures, see Maintenance section in the Product Manual.
18 Rev.6 3HAC 9041-1
1 Description
1.5.1 Introduction
1.5 Robot Motion
1.5.1 Introduction
**)Option. The default working range for axis 4 and axis 6 can be extended bychanging parameter values in the software
Figure 9 The extreme positions of the robot arm.
Type of motion Range of movement
Axis 1: Rotation motion +180o to - 80o
Axis 2: Arm motion +110o to -90o
Axis 3: Arm motion +50o to -230o
Axis 4: Wrist motion +200o to +200o Default+165 revolutions to -165 revolutions Max**)
Axis 5: Bend motion +120o to -120o
Axis 6: Turn motion +400o to -400o Default+163 revolutions to -163 revolutions Max**)
Pos 1
Pos 6
1243
151
1120
28
810670
184 324 486
70
Z
Pos 0
Pos 8
X
Pos 7
Pos 2
Pos 3
Positions at wrist center (mm) and Angle (degrees) see the table on the next page
3HAC 9041-1 Rev.6 19
1 Description
1.5.1 Introduction
Positions at wrist center (mm) and Angle (degrees) for IRB 140:
1.6 Performance according to ISO 9283
General At rated load and 1 m/s velocity on the inclined ISO test plane with all six robot axes in motion.
The above values are the range of average test-results from a number of robots.
1.7 Velocity
There is a supervision to prevent overheating in applications with intensive and fre-quent movements.
Position no (see Figure 9)
Position (mm) X
Position (mm) Z
Angle (degrees) Axis 2
Angle (degrees) Axis 3
0 450 712 0 0
1 70 1092 0 -90
2 314 421 0 +50
3 765 99 110 -90
6 1 596 -90 +50
7 218 558 110 -230
8 -670 352 -90 -90
Description Values
Unidirectional pose repeatability RP = 0.03 mm
Linear path accuracy AT = 1.0 mm
Linear path repeatability RT = 0.15 mm
Minimum positioning time, to within 0.5 mm of the position
0.2 sec. (on 35 mm linear path)
Axis no. IRB 140 IRB 140T
1 200o/s 250o/s
2 200o/s 250o/s
3 260o/s 260o/s
4 360o/s 360o/s
5 360o/s 360o/s
6 450o/s 450o/s
20 Rev.6 3HAC 9041-1
1 Description
1.5.1 Introduction
1.8 ResolutionApprox. 0.01o on each axis.
1.9 Signals
Signal connections on robot arm
For connection of extra equipment on the manipulator, there are cables integrated into the manipulator’s cabling from the controller to the upper arm housing.
In the controller, the signals are connected to 12-pole terminals, Phoenix MSTB 2.5/12-ST-5.08, and on the upper arm housing to FCI UT07 14 12SH44N.
Hose for compressed air is also integrated into the manipulator. There is an inlet (R 1 / 4”) at the base and an outlet (R1/4”) on the upper arm housing.
Description Number Values
Signals 12 49V, 500 mA
Air 1 Max. 8 bar, inner hose diameter 6.5 mm
3HAC 9041-1 Rev.6 21
1 Description
1.5.1 Introduction
22 Rev.6 3HAC 9041-1
2 Specification of Variants and Options
2 Specification of Variants and Options
2.1 Introduction
General The different variants and options for the IRB 140 are described below.
The same numbers are used here as in the Specification form.
For controller options, see Product Specification for the controller, and for software options, see Product Specification RobotWare Options.
2.2 Manipulator
Variants
Manipulator colour
Protection
Option Variant Robots
435-2 Standard performance variants
IRB 140 / IRB 140F / IRB 140CW / IRB 140CR
435-44 High speed variants: IRB 140T / IRB 140TF / IRB 140TCW / IRB 140TCR
Option Description
209-1 The robot is painted in colour ABB Orange.
209-2 The robot is painted in white colour.
209-4--192 The manipulator is painted with the chosen RAL-colour
Option Description
287-4 Standard manipulator
287-3 FoundryRobot adapted for foundry or other harsh environments.
The robot has the FoundryPlus protection which means that the whole manipulator is IP67 classified and steam washable. An excellent corrosion protection is obtained by a special coating. The connectors are designed for severe environments, and bearings, gears and other sensitive parts are high protected. The robot is labeled with “Foundry Plus”.
287-1 Clean Room
Robot with clean room class 10 according to US Federal Standard 209 and with the same protection as in option 287-4.
The robot is labeled with “Clean Room”.
287-5 WashRobot with the same protection as in option 287-3.
3HAC 9041-1 Rev.6 23
2 Specification of Variants and Options
Connector kit
Safety lamp
Option Description
431-1 Detached connectors, suitable to the connectors on the upper arm.The kit consists of connectors, pins and sockets.
Option Description
213-1 Safety lampA safety lamp with an orange fixed light can be mounted on the manipula-tor.The lamp is active in MOTORS ON mode.The safety lamp is required on a UL/UR approved robot.
24 Rev.6 3HAC 9041-1
3 Accessories
3 Accessories
Basic software and software options for robot and PC
For more information, see Product Specification IRC5 for M2004 and S4Cplus for M2000, and Product Specification RobotWare Options.
Robot Peripherals
• Motor Units
3HAC 9041-1 Rev.6 25
3 Accessories
26 Rev.6 3HAC 9041-1
Index
A
accessories, 25
C
Clean Room, 5Clean room, 12clean room standards, 12connector kit, 24cooling device, 7
E
emergency stop, 10enabling device, 10equipment
mounting, 16permitted extra load, 16
F
fire safety, 11Foundry, 12FoundryPlus, 5
H
hold-to-run control, 11hole configuration, 13humidity, 12
I
installation, 12
L
load, 12, 13load diagrams, 14
M
maintenance, 18manipulator colours, 23mechanical interface, 17motion, 19mounting
extra equipment, 16robot, 13
mounting flange, 17
N
noise level, 7
O
operating requirements, 12options, 23overspeed protection, 10
P
payload, 12protection
foundryclean room, 23
R
range of movementworking space, 19
reduced speed, 10repeatability, 20resolution, 21Robot Peripherals, 25robot versions, 7, 23
S
safeguarded space stop, 11delayed, 11
safety, 9safety lamp, 11, 24service, 18space requirements, 7standards, 9structure, 5
T
temperature, 12troubleshooting, 18
U
UL approved, 9
V
variants, 7, 23velocity, 20
W
weight, 7working space
restricting, 11
3HAC 9041-1 Rev.6 27
Index
28 Rev.6 3HAC 9041-1
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