especificacion de producto abb irb 140

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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


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


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


1.2 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


IEC 204-1 Electrical equipment of industrial machines

IEC 529 Degrees of protection provided by enclosures


ISO 10218 Manipulating industrial robots, safety

ISO 9787 Manipulating industrial robots, coordinate systems and motions

ISO 9409-1 Manipulating industrial robots, mechanical interface


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


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


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


2.1 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


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

��ABB Automation Technologies ABRoboticsS-721 68 VÄSTERÅSSWEDENTelephone: +46 (0) 21 344000Telefax: +46 (0) 21 132592

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