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ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 1 |
ROBOTICS
Product specification
IRB 140
![Image]
Trace back information:
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Checked in 2020-12-16
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ABB_IRB140_Product_Specifications.pdf
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| 2 |
ROBOTICS
Product specification
IRB 140
![Image]
Trace back information:
Workspace 20D version a10
Checked in 2020-12-16
Skribenta version 5.3.075
Product specification
IRB 140-6/0.8
IRB 140T-6/0.8
Document ID: 3HAC041346-001
Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 3 |
Trace back information:
Workspace 20D version a10
Checked in 2020-12-16
Skribenta version 5.3.075
Product specification
IRB 140-6/0.8
IRB 140T-6/0.8
Document ID: 3HAC041346-001
Revision: Q
© Copyright 2004-2020 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 2004-2020 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 4 |
Product specification
IRB 140-6/0.8
IRB 140T-6/0.8
Document ID: 3HAC041346-001
Revision: Q
© Copyright 2004-2020 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 2004-2020 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this product specification .............................................................................................
9
1
Description
9
1.1
Structure .........................................................................................................
9
1.1.1
Introduction ............................................................................................
12
1.1.2
Different robot versions ............................................................................
14
1.2
Standards ........................................................................................................
14
1.2.1
Applicable standards ...............................................................................
16
1.3
Installation .......................................................................................................
16
1.3.1
Introduction ............................................................................................
17
1.3.2
Operating requirements ............................................................................
21
1.4
Load diagram ...................................................................................................
21
1.4.1
Introduction ............................................................................................
22
1.4.2
Diagrams ...............................................................................................
23
1.4.3
Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement ..............................................................................................
24
1.4.4
Maximum TCP acceleration .......................................................................
25
1.5
Mounting of equipment .......................................................................................
25
1.5.1
Introduction ............................................................................................
26
1.5.2
Holes for mounting of extra equipment ........................................................
28
1.6
Calibration and references ..................................................................................
28
1.6.1
Calibration methods .................................................................................
30
1.6.2
Fine calibration .......................................................................................
31
1.6.3
Absolute Accuracy calibration ...................................................................
33
1.7
Maintenance and troubleshooting .........................................................................
33
1.7.1
Introduction ............................................................................................
34
1.8
Robot motion ....................................................................................................
34
1.8.1
Introduction ............................................................................................
36
1.8.2
Performance according to ISO 9283 ............................................................
38
1.8.3
Velocity .................................................................................................
39
1.8.4
Robot stopping distances and times ...........................................................
40
1.8.5
Signals ..................................................................................................
41
2
Specification of variants and options
41
2.1
Introduction to variants and options ......................................................................
42
2.2
Manipulator ......................................................................................................
45
2.3
Floor cables .....................................................................................................
46
2.4
Process ...........................................................................................................
47
2.5
User documentation ..........................................................................................
49
3
Accessories
49
3.1
Introduction to accessories .................................................................................
51
Index
Product specification - IRB 140
5
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Table of contents
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 5 |
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 2004-2020 ABB. All rights reserved.
Specifications subject to change without notice.
Table of contents
7
Overview of this product specification .............................................................................................
9
1
Description
9
1.1
Structure .........................................................................................................
9
1.1.1
Introduction ............................................................................................
12
1.1.2
Different robot versions ............................................................................
14
1.2
Standards ........................................................................................................
14
1.2.1
Applicable standards ...............................................................................
16
1.3
Installation .......................................................................................................
16
1.3.1
Introduction ............................................................................................
17
1.3.2
Operating requirements ............................................................................
21
1.4
Load diagram ...................................................................................................
21
1.4.1
Introduction ............................................................................................
22
1.4.2
Diagrams ...............................................................................................
23
1.4.3
Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement ..............................................................................................
24
1.4.4
Maximum TCP acceleration .......................................................................
25
1.5
Mounting of equipment .......................................................................................
25
1.5.1
Introduction ............................................................................................
26
1.5.2
Holes for mounting of extra equipment ........................................................
28
1.6
Calibration and references ..................................................................................
28
1.6.1
Calibration methods .................................................................................
30
1.6.2
Fine calibration .......................................................................................
31
1.6.3
Absolute Accuracy calibration ...................................................................
33
1.7
Maintenance and troubleshooting .........................................................................
33
1.7.1
Introduction ............................................................................................
34
1.8
Robot motion ....................................................................................................
34
1.8.1
Introduction ............................................................................................
36
1.8.2
Performance according to ISO 9283 ............................................................
38
1.8.3
Velocity .................................................................................................
39
1.8.4
Robot stopping distances and times ...........................................................
40
1.8.5
Signals ..................................................................................................
41
2
Specification of variants and options
41
2.1
Introduction to variants and options ......................................................................
42
2.2
Manipulator ......................................................................................................
45
2.3
Floor cables .....................................................................................................
46
2.4
Process ...........................................................................................................
47
2.5
User documentation ..........................................................................................
49
3
Accessories
49
3.1
Introduction to accessories .................................................................................
51
Index
Product specification - IRB 140
5
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Table of contents
This page is intentionally left blank
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 6 |
Table of contents
7
Overview of this product specification .............................................................................................
9
1
Description
9
1.1
Structure .........................................................................................................
9
1.1.1
Introduction ............................................................................................
12
1.1.2
Different robot versions ............................................................................
14
1.2
Standards ........................................................................................................
14
1.2.1
Applicable standards ...............................................................................
16
1.3
Installation .......................................................................................................
16
1.3.1
Introduction ............................................................................................
17
1.3.2
Operating requirements ............................................................................
21
1.4
Load diagram ...................................................................................................
21
1.4.1
Introduction ............................................................................................
22
1.4.2
Diagrams ...............................................................................................
23
1.4.3
Maximum load and moment of inertia for full and limited axis 5 (center line down)
movement ..............................................................................................
24
1.4.4
Maximum TCP acceleration .......................................................................
25
1.5
Mounting of equipment .......................................................................................
25
1.5.1
Introduction ............................................................................................
26
1.5.2
Holes for mounting of extra equipment ........................................................
28
1.6
Calibration and references ..................................................................................
28
1.6.1
Calibration methods .................................................................................
30
1.6.2
Fine calibration .......................................................................................
31
1.6.3
Absolute Accuracy calibration ...................................................................
33
1.7
Maintenance and troubleshooting .........................................................................
33
1.7.1
Introduction ............................................................................................
34
1.8
Robot motion ....................................................................................................
34
1.8.1
Introduction ............................................................................................
36
1.8.2
Performance according to ISO 9283 ............................................................
38
1.8.3
Velocity .................................................................................................
39
1.8.4
Robot stopping distances and times ...........................................................
40
1.8.5
Signals ..................................................................................................
41
2
Specification of variants and options
41
2.1
Introduction to variants and options ......................................................................
42
2.2
Manipulator ......................................................................................................
45
2.3
Floor cables .....................................................................................................
46
2.4
Process ...........................................................................................................
47
2.5
User documentation ..........................................................................................
49
3
Accessories
49
3.1
Introduction to accessories .................................................................................
51
Index
Product specification - IRB 140
5
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Table of contents
This page is intentionally left blank
Overview of this product specification
About this product specification
It describes the performance of the manipulator or a complete family of manipulators
in terms of:
•
The structure and dimensional prints
•
The fulfilment of standards, safety and operating requirements
•
The load diagrams, mounting of extra equipment, the motion and the robot
reach
•
The specification of variant and options available
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
•
Product managers and product personnel
•
Sales and marketing personnel
•
Order and customer service personnel
References
Document ID
Reference
3HAC047400-001
Product specification - Controller IRC5
IRC5 with main computer DSQC1000.
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 5.6x.
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 6.
3HAC027400-001
Product manual - IRB 140
3HAC052355-001
Product specification - Robot user documentation, IRC5 with RobotWare
6
Revisions
Description
Revision
•
Replaces article numbers 3HAC9041-1, 3HAC9885-1, 3HAC10320-1,
3HAC10319-1, 3HAC10323-1, and 3HAC9041-012.
-
•
Machinery directive updated
•
Figure of the base is updated, see Illustration on page 19 .
A
•
Info regarding attachment bolts added
B
•
Minor corrections/update
C
•
Values for stop distance/time IRB 140 Std. added
D
Continues on next page
Product specification - IRB 140
7
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Overview of this product specification
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 7 |
This page is intentionally left blank
Overview of this product specification
About this product specification
It describes the performance of the manipulator or a complete family of manipulators
in terms of:
•
The structure and dimensional prints
•
The fulfilment of standards, safety and operating requirements
•
The load diagrams, mounting of extra equipment, the motion and the robot
reach
•
The specification of variant and options available
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
•
Product managers and product personnel
•
Sales and marketing personnel
•
Order and customer service personnel
References
Document ID
Reference
3HAC047400-001
Product specification - Controller IRC5
IRC5 with main computer DSQC1000.
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 5.6x.
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 6.
3HAC027400-001
Product manual - IRB 140
3HAC052355-001
Product specification - Robot user documentation, IRC5 with RobotWare
6
Revisions
Description
Revision
•
Replaces article numbers 3HAC9041-1, 3HAC9885-1, 3HAC10320-1,
3HAC10319-1, 3HAC10323-1, and 3HAC9041-012.
-
•
Machinery directive updated
•
Figure of the base is updated, see Illustration on page 19 .
A
•
Info regarding attachment bolts added
B
•
Minor corrections/update
C
•
Values for stop distance/time IRB 140 Std. added
D
Continues on next page
Product specification - IRB 140
7
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Overview of this product specification
Description
Revision
•
Text for ISO test adjusted
•
Robot stopping distances and times for category 0 and category 1
stops are moved to a separate document, Product specification - Robot
stopping distances according to ISO 10218-1
E
•
Text for Foundry Plus updated.
F
•
Minor corrections/update
G
•
Minor corrections/update
H
•
Illustration in section "Robot motion/Introduction" is change.
J
Published in release R17.1. The following updates are done in this revision:
•
Restriction of load diagram added.
K
Published in release R17.2. The following updates are done in this revision:
•
Updated list of applicable standards.
•
Updated inaccuracy in drawings of fastening
L
Published in release R18.1. The following updates are done in this revision:
•
TCP acceleration should be presented by RobotStudio.
M
Published in release R18.2. The following updates are done in this revision:
•
Corrected option number to 435-88 for variant IRB 140T-6/0.8.
N
Published in release 19C. The following updates are done in this revision:
•
Updated information about Absolute Accuracy .
•
Note added about need to calibrate if the robot is other than floor
mounted.
P
Published in release 20D. The following updates are done in this revision:
•
Warranty section updated.
Q
8
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Overview of this product specification
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 8 |
Overview of this product specification
About this product specification
It describes the performance of the manipulator or a complete family of manipulators
in terms of:
•
The structure and dimensional prints
•
The fulfilment of standards, safety and operating requirements
•
The load diagrams, mounting of extra equipment, the motion and the robot
reach
•
The specification of variant and options available
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
•
Product managers and product personnel
•
Sales and marketing personnel
•
Order and customer service personnel
References
Document ID
Reference
3HAC047400-001
Product specification - Controller IRC5
IRC5 with main computer DSQC1000.
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 5.6x.
3HAC050945-001
Product specification - Controller software IRC5
IRC5 with main computer DSQC1000 and RobotWare 6.
3HAC027400-001
Product manual - IRB 140
3HAC052355-001
Product specification - Robot user documentation, IRC5 with RobotWare
6
Revisions
Description
Revision
•
Replaces article numbers 3HAC9041-1, 3HAC9885-1, 3HAC10320-1,
3HAC10319-1, 3HAC10323-1, and 3HAC9041-012.
-
•
Machinery directive updated
•
Figure of the base is updated, see Illustration on page 19 .
A
•
Info regarding attachment bolts added
B
•
Minor corrections/update
C
•
Values for stop distance/time IRB 140 Std. added
D
Continues on next page
Product specification - IRB 140
7
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Overview of this product specification
Description
Revision
•
Text for ISO test adjusted
•
Robot stopping distances and times for category 0 and category 1
stops are moved to a separate document, Product specification - Robot
stopping distances according to ISO 10218-1
E
•
Text for Foundry Plus updated.
F
•
Minor corrections/update
G
•
Minor corrections/update
H
•
Illustration in section "Robot motion/Introduction" is change.
J
Published in release R17.1. The following updates are done in this revision:
•
Restriction of load diagram added.
K
Published in release R17.2. The following updates are done in this revision:
•
Updated list of applicable standards.
•
Updated inaccuracy in drawings of fastening
L
Published in release R18.1. The following updates are done in this revision:
•
TCP acceleration should be presented by RobotStudio.
M
Published in release R18.2. The following updates are done in this revision:
•
Corrected option number to 435-88 for variant IRB 140T-6/0.8.
N
Published in release 19C. The following updates are done in this revision:
•
Updated information about Absolute Accuracy .
•
Note added about need to calibrate if the robot is other than floor
mounted.
P
Published in release 20D. The following updates are done in this revision:
•
Warranty section updated.
Q
8
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Overview of this product specification
Continued
1 Description
1.1 Structure
1.1.1 Introduction
General
IRB 140 is a 6-axis industrial robot, with a payload of 6 kg, designed specifically
for manufacturing industries 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.
Protection type Foundry Plus 2
Robots with the option Foundry Plus 2 are designed for harsh environments where
the robot is exposed to sprays of coolants, lubricants and metal spits that are
typical for die casting applications or other similar applications.
Typical applications are spraying insertion and part extraction of die-casting
machines, handling in sand casting and gravity casting, etc. (Please refer to Foundry
Prime robots for washing applications or other similar applications). Special care
must be taken in regard to operational and maintenance requirements for
applications in foundry are as well as in other applications areas. Please contact
ABB Robotics Sales organization if in doubt regarding specific application feasibility
for the Foundry Plus 2 protected robot.
The robot is painted with two-component epoxy on top of a primer for corrosion
protection. To further improve the corrosion protection additional rust preventive
are applied to exposed and crucial areas, e.g. has the tool flange a special
preventive coating. Although, continuous splashing of water or other similar rust
formation fluids may cause rust attach on the robots unpainted areas, joints, or
other unprotected surfaces. Under these circumstances it is recommended to add
rust inhibitor to the fluid or take other measures to prevent potential rust formation
on the mentioned.
The entire robot is IP67 compliant according to IEC 60529 - from base to wrist,
which means that the electrical compartments are sealed against water and solid
contaminants. Among other things all sensitive parts are better protected than the
standard offer.
Selected Foundry Plus 2 features:
•
Improved sealing to prevent penetration into cavities to secure IP67
•
Additional protection of cabling and electronics
•
Special covers that protect cavities
•
Well-proven connectors
•
Nickel coated tool flange
•
Rust preventives on screws, washers and unpainted/machined surfaces
•
Extended service and maintenance program
Continues on next page
Product specification - IRB 140
9
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 9 |
Description
Revision
•
Text for ISO test adjusted
•
Robot stopping distances and times for category 0 and category 1
stops are moved to a separate document, Product specification - Robot
stopping distances according to ISO 10218-1
E
•
Text for Foundry Plus updated.
F
•
Minor corrections/update
G
•
Minor corrections/update
H
•
Illustration in section "Robot motion/Introduction" is change.
J
Published in release R17.1. The following updates are done in this revision:
•
Restriction of load diagram added.
K
Published in release R17.2. The following updates are done in this revision:
•
Updated list of applicable standards.
•
Updated inaccuracy in drawings of fastening
L
Published in release R18.1. The following updates are done in this revision:
•
TCP acceleration should be presented by RobotStudio.
M
Published in release R18.2. The following updates are done in this revision:
•
Corrected option number to 435-88 for variant IRB 140T-6/0.8.
N
Published in release 19C. The following updates are done in this revision:
•
Updated information about Absolute Accuracy .
•
Note added about need to calibrate if the robot is other than floor
mounted.
P
Published in release 20D. The following updates are done in this revision:
•
Warranty section updated.
Q
8
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
Overview of this product specification
Continued
1 Description
1.1 Structure
1.1.1 Introduction
General
IRB 140 is a 6-axis industrial robot, with a payload of 6 kg, designed specifically
for manufacturing industries 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.
Protection type Foundry Plus 2
Robots with the option Foundry Plus 2 are designed for harsh environments where
the robot is exposed to sprays of coolants, lubricants and metal spits that are
typical for die casting applications or other similar applications.
Typical applications are spraying insertion and part extraction of die-casting
machines, handling in sand casting and gravity casting, etc. (Please refer to Foundry
Prime robots for washing applications or other similar applications). Special care
must be taken in regard to operational and maintenance requirements for
applications in foundry are as well as in other applications areas. Please contact
ABB Robotics Sales organization if in doubt regarding specific application feasibility
for the Foundry Plus 2 protected robot.
The robot is painted with two-component epoxy on top of a primer for corrosion
protection. To further improve the corrosion protection additional rust preventive
are applied to exposed and crucial areas, e.g. has the tool flange a special
preventive coating. Although, continuous splashing of water or other similar rust
formation fluids may cause rust attach on the robots unpainted areas, joints, or
other unprotected surfaces. Under these circumstances it is recommended to add
rust inhibitor to the fluid or take other measures to prevent potential rust formation
on the mentioned.
The entire robot is IP67 compliant according to IEC 60529 - from base to wrist,
which means that the electrical compartments are sealed against water and solid
contaminants. Among other things all sensitive parts are better protected than the
standard offer.
Selected Foundry Plus 2 features:
•
Improved sealing to prevent penetration into cavities to secure IP67
•
Additional protection of cabling and electronics
•
Special covers that protect cavities
•
Well-proven connectors
•
Nickel coated tool flange
•
Rust preventives on screws, washers and unpainted/machined surfaces
•
Extended service and maintenance program
Continues on next page
Product specification - IRB 140
9
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
The Foundry Plus 2 robot can be cleaned with appropriate washing equipment
according to the robot product manual. Appropriate cleaning and maintenance is
required to maintain the protection, for example can rust preventive be washed off
with wrong cleaning method.
Available robot versions
The option Foundry Plus 2 might not be available for all robot versions.
See Specification of variants and options on page 41 for robot versions and other
options not selectable together with Foundry Plus 2.
Protection type Clean Room
![Image]
xx0900000435
The illustration above is a sample of an IPA certified lable.
Robots with the option Clean Room are classified for clean room class 6 according
to ISO 14644-1.
The Clean Room robots are protected with a paint appropriate for clean room
applications. The paint has been tested regarding outgassing of Volatile Organic
Compounds (VOC) and been classified in accordance with ISO 14644-8.
Classification of airborne molecular contamination, see below:
Outgassing amount
Parameter
Classification in ac-
cordance with ISO
14644-8
Normed based
on 1 m 2 and 1s
(g)
Total detec-
ted
(ng)
Per-
formed
test
Tem-
perat-
ure
( o C)
Test dur-
ation
(s)
Area
(m 2 )
-6.8
1.7E-07
2848
TVOC
23
3600
4.5E-03
-3.8
1.7E-04
46524
TVOC
90
60
4.5E-03
Classification results in accordance with ISO 14644-8 at different test temperatures.
See Specification of variants and options on page 41 for options that are not
selectable together with the option Clean Room.
Operating system
The robot is equipped with the IRC5 controller and robot control software,
RobotWare. RobotWare supports every aspect of the robot system, such as motion
control, development and execution of application programs, communication etc.
See Product specification - Controller software IRC5 , and Product
specification - Controller IRC5 with FlexPendant .
Safety
Safety standards valid for complete robot, manipulator and controller.
Continues on next page
10
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
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| 10 |
1 Description
1.1 Structure
1.1.1 Introduction
General
IRB 140 is a 6-axis industrial robot, with a payload of 6 kg, designed specifically
for manufacturing industries 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.
Protection type Foundry Plus 2
Robots with the option Foundry Plus 2 are designed for harsh environments where
the robot is exposed to sprays of coolants, lubricants and metal spits that are
typical for die casting applications or other similar applications.
Typical applications are spraying insertion and part extraction of die-casting
machines, handling in sand casting and gravity casting, etc. (Please refer to Foundry
Prime robots for washing applications or other similar applications). Special care
must be taken in regard to operational and maintenance requirements for
applications in foundry are as well as in other applications areas. Please contact
ABB Robotics Sales organization if in doubt regarding specific application feasibility
for the Foundry Plus 2 protected robot.
The robot is painted with two-component epoxy on top of a primer for corrosion
protection. To further improve the corrosion protection additional rust preventive
are applied to exposed and crucial areas, e.g. has the tool flange a special
preventive coating. Although, continuous splashing of water or other similar rust
formation fluids may cause rust attach on the robots unpainted areas, joints, or
other unprotected surfaces. Under these circumstances it is recommended to add
rust inhibitor to the fluid or take other measures to prevent potential rust formation
on the mentioned.
The entire robot is IP67 compliant according to IEC 60529 - from base to wrist,
which means that the electrical compartments are sealed against water and solid
contaminants. Among other things all sensitive parts are better protected than the
standard offer.
Selected Foundry Plus 2 features:
•
Improved sealing to prevent penetration into cavities to secure IP67
•
Additional protection of cabling and electronics
•
Special covers that protect cavities
•
Well-proven connectors
•
Nickel coated tool flange
•
Rust preventives on screws, washers and unpainted/machined surfaces
•
Extended service and maintenance program
Continues on next page
Product specification - IRB 140
9
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
The Foundry Plus 2 robot can be cleaned with appropriate washing equipment
according to the robot product manual. Appropriate cleaning and maintenance is
required to maintain the protection, for example can rust preventive be washed off
with wrong cleaning method.
Available robot versions
The option Foundry Plus 2 might not be available for all robot versions.
See Specification of variants and options on page 41 for robot versions and other
options not selectable together with Foundry Plus 2.
Protection type Clean Room
![Image]
xx0900000435
The illustration above is a sample of an IPA certified lable.
Robots with the option Clean Room are classified for clean room class 6 according
to ISO 14644-1.
The Clean Room robots are protected with a paint appropriate for clean room
applications. The paint has been tested regarding outgassing of Volatile Organic
Compounds (VOC) and been classified in accordance with ISO 14644-8.
Classification of airborne molecular contamination, see below:
Outgassing amount
Parameter
Classification in ac-
cordance with ISO
14644-8
Normed based
on 1 m 2 and 1s
(g)
Total detec-
ted
(ng)
Per-
formed
test
Tem-
perat-
ure
( o C)
Test dur-
ation
(s)
Area
(m 2 )
-6.8
1.7E-07
2848
TVOC
23
3600
4.5E-03
-3.8
1.7E-04
46524
TVOC
90
60
4.5E-03
Classification results in accordance with ISO 14644-8 at different test temperatures.
See Specification of variants and options on page 41 for options that are not
selectable together with the option Clean Room.
Operating system
The robot is equipped with the IRC5 controller and robot control software,
RobotWare. RobotWare supports every aspect of the robot system, such as motion
control, development and execution of application programs, communication etc.
See Product specification - Controller software IRC5 , and Product
specification - Controller IRC5 with FlexPendant .
Safety
Safety standards valid for complete robot, manipulator and controller.
Continues on next page
10
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and welding, communication features -
network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software. See Product
specification - Controller software IRC5 .
Manipulator axes
![Image]
xx1000000859
Description
Posi-
tion
Description
Posi-
tion
Axis 2
B
Axis 1
A
Axis 4
D
Axis 3
C
Axis 6
F
Axis 5
E
Product specification - IRB 140
11
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
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| 11 |
The Foundry Plus 2 robot can be cleaned with appropriate washing equipment
according to the robot product manual. Appropriate cleaning and maintenance is
required to maintain the protection, for example can rust preventive be washed off
with wrong cleaning method.
Available robot versions
The option Foundry Plus 2 might not be available for all robot versions.
See Specification of variants and options on page 41 for robot versions and other
options not selectable together with Foundry Plus 2.
Protection type Clean Room
![Image]
xx0900000435
The illustration above is a sample of an IPA certified lable.
Robots with the option Clean Room are classified for clean room class 6 according
to ISO 14644-1.
The Clean Room robots are protected with a paint appropriate for clean room
applications. The paint has been tested regarding outgassing of Volatile Organic
Compounds (VOC) and been classified in accordance with ISO 14644-8.
Classification of airborne molecular contamination, see below:
Outgassing amount
Parameter
Classification in ac-
cordance with ISO
14644-8
Normed based
on 1 m 2 and 1s
(g)
Total detec-
ted
(ng)
Per-
formed
test
Tem-
perat-
ure
( o C)
Test dur-
ation
(s)
Area
(m 2 )
-6.8
1.7E-07
2848
TVOC
23
3600
4.5E-03
-3.8
1.7E-04
46524
TVOC
90
60
4.5E-03
Classification results in accordance with ISO 14644-8 at different test temperatures.
See Specification of variants and options on page 41 for options that are not
selectable together with the option Clean Room.
Operating system
The robot is equipped with the IRC5 controller and robot control software,
RobotWare. RobotWare supports every aspect of the robot system, such as motion
control, development and execution of application programs, communication etc.
See Product specification - Controller software IRC5 , and Product
specification - Controller IRC5 with FlexPendant .
Safety
Safety standards valid for complete robot, manipulator and controller.
Continues on next page
10
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and welding, communication features -
network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software. See Product
specification - Controller software IRC5 .
Manipulator axes
![Image]
xx1000000859
Description
Posi-
tion
Description
Posi-
tion
Axis 2
B
Axis 1
A
Axis 4
D
Axis 3
C
Axis 6
F
Axis 5
E
Product specification - IRB 140
11
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued
1.1.2 Different robot versions
General
The IRB 140-6/0.8 is available in two versions and all can be mounted on floor,
inverted or on wall in any angle (tilted around X or Y axis). The high speed variant,
IRB 140T, provides further reduced cycle time:
Reach (m)
Handling capacity (kg)
Robot type
0.8 m
6 kg
IRB 140
0.8 m
6 kg
IRB 140T
Manipulator weight
Description
Data
98 kg (excluding the cables to the controller)
Manipulator
Other technical data
Note
Description
Data
< 70 dB (A) Leq (acc. to the working space
Machinery directive 2006/42/EG)
The sound pressure
level outside
Airborne noise level
Power consumption
Power consumption (kW)
Speed (mm/s)
0.44
Max.
0.39
1000
0.36
500
0.34
100
E1
E4
E3
E2
A
xx1000000101
Description
Position
250 mm
A
Path E-E2-E3-E4 in the ISO Cube, maximum load.
Continues on next page
12
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 12 |
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and welding, communication features -
network communication - and advanced functions such as multitasking, sensor
control etc. For a complete description on optional software. See Product
specification - Controller software IRC5 .
Manipulator axes
![Image]
xx1000000859
Description
Posi-
tion
Description
Posi-
tion
Axis 2
B
Axis 1
A
Axis 4
D
Axis 3
C
Axis 6
F
Axis 5
E
Product specification - IRB 140
11
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.1 Introduction
Continued
1.1.2 Different robot versions
General
The IRB 140-6/0.8 is available in two versions and all can be mounted on floor,
inverted or on wall in any angle (tilted around X or Y axis). The high speed variant,
IRB 140T, provides further reduced cycle time:
Reach (m)
Handling capacity (kg)
Robot type
0.8 m
6 kg
IRB 140
0.8 m
6 kg
IRB 140T
Manipulator weight
Description
Data
98 kg (excluding the cables to the controller)
Manipulator
Other technical data
Note
Description
Data
< 70 dB (A) Leq (acc. to the working space
Machinery directive 2006/42/EG)
The sound pressure
level outside
Airborne noise level
Power consumption
Power consumption (kW)
Speed (mm/s)
0.44
Max.
0.39
1000
0.36
500
0.34
100
E1
E4
E3
E2
A
xx1000000101
Description
Position
250 mm
A
Path E-E2-E3-E4 in the ISO Cube, maximum load.
Continues on next page
12
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions
Dimensions IRB 140
xx1000000864
Description
Pos
Minimum turning radius
A
Product specification - IRB 140
13
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 13 |
1.1.2 Different robot versions
General
The IRB 140-6/0.8 is available in two versions and all can be mounted on floor,
inverted or on wall in any angle (tilted around X or Y axis). The high speed variant,
IRB 140T, provides further reduced cycle time:
Reach (m)
Handling capacity (kg)
Robot type
0.8 m
6 kg
IRB 140
0.8 m
6 kg
IRB 140T
Manipulator weight
Description
Data
98 kg (excluding the cables to the controller)
Manipulator
Other technical data
Note
Description
Data
< 70 dB (A) Leq (acc. to the working space
Machinery directive 2006/42/EG)
The sound pressure
level outside
Airborne noise level
Power consumption
Power consumption (kW)
Speed (mm/s)
0.44
Max.
0.39
1000
0.36
500
0.34
100
E1
E4
E3
E2
A
xx1000000101
Description
Position
250 mm
A
Path E-E2-E3-E4 in the ISO Cube, maximum load.
Continues on next page
12
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions
Dimensions IRB 140
xx1000000864
Description
Pos
Minimum turning radius
A
Product specification - IRB 140
13
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions
Continued
1.2 Standards
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with EN ISO 10218-1, Robots for industrial
environments - Safety requirements -Part 1 Robot. If there are deviations, these
are listed in the declaration of incorporation which is included on delivery.
Standards, EN ISO
The product is designed in accordance with selected parts of:
Description
Standard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100:2010
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1:2015
Safety of machinery - Emergency stop - Principles for design
EN ISO 13850:2015
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Manipulating industrial robots, performance criteria, and related
test methods
ISO 9283:1998
Classification of air cleanliness
EN ISO 14644-1:2015 i
Ergonomics of the thermal environment - Part 1
EN ISO 13732-1:2008
EMC, Generic emission
EN 61000-6-4:2007 +
A1:2011
IEC 61000-6-4:2006 +
A1:2010
(option 129-1)
EMC, Generic immunity
EN 61000-6-2:2005
IEC 61000-6-2:2005
Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-1:2012 ii
Arc welding equipment - Part 10: EMC requirements
EN IEC 60974-10:2014 ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1:2016
Degrees of protection provided by enclosures (IP code)
IEC 60529:1989 + A2:2013
i
Only robots with protection Clean Room.
ii
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
Continues on next page
14
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 14 |
Dimensions IRB 140
xx1000000864
Description
Pos
Minimum turning radius
A
Product specification - IRB 140
13
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.1.2 Different robot versions
Continued
1.2 Standards
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with EN ISO 10218-1, Robots for industrial
environments - Safety requirements -Part 1 Robot. If there are deviations, these
are listed in the declaration of incorporation which is included on delivery.
Standards, EN ISO
The product is designed in accordance with selected parts of:
Description
Standard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100:2010
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1:2015
Safety of machinery - Emergency stop - Principles for design
EN ISO 13850:2015
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Manipulating industrial robots, performance criteria, and related
test methods
ISO 9283:1998
Classification of air cleanliness
EN ISO 14644-1:2015 i
Ergonomics of the thermal environment - Part 1
EN ISO 13732-1:2008
EMC, Generic emission
EN 61000-6-4:2007 +
A1:2011
IEC 61000-6-4:2006 +
A1:2010
(option 129-1)
EMC, Generic immunity
EN 61000-6-2:2005
IEC 61000-6-2:2005
Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-1:2012 ii
Arc welding equipment - Part 10: EMC requirements
EN IEC 60974-10:2014 ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1:2016
Degrees of protection provided by enclosures (IP code)
IEC 60529:1989 + A2:2013
i
Only robots with protection Clean Room.
ii
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
Continues on next page
14
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
European standards
The product is designed in accordance with selected parts of:
Description
Standard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1:2006 + A1:2009
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574:1996 + A1:2008
UL, ANSI, and other standards
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
Product specification - IRB 140
15
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
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| 15 |
1.2 Standards
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with EN ISO 10218-1, Robots for industrial
environments - Safety requirements -Part 1 Robot. If there are deviations, these
are listed in the declaration of incorporation which is included on delivery.
Standards, EN ISO
The product is designed in accordance with selected parts of:
Description
Standard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100:2010
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1:2015
Safety of machinery - Emergency stop - Principles for design
EN ISO 13850:2015
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Manipulating industrial robots, performance criteria, and related
test methods
ISO 9283:1998
Classification of air cleanliness
EN ISO 14644-1:2015 i
Ergonomics of the thermal environment - Part 1
EN ISO 13732-1:2008
EMC, Generic emission
EN 61000-6-4:2007 +
A1:2011
IEC 61000-6-4:2006 +
A1:2010
(option 129-1)
EMC, Generic immunity
EN 61000-6-2:2005
IEC 61000-6-2:2005
Arc welding equipment - Part 1: Welding power sources
EN IEC 60974-1:2012 ii
Arc welding equipment - Part 10: EMC requirements
EN IEC 60974-10:2014 ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1:2016
Degrees of protection provided by enclosures (IP code)
IEC 60529:1989 + A2:2013
i
Only robots with protection Clean Room.
ii
Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
Continues on next page
14
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
European standards
The product is designed in accordance with selected parts of:
Description
Standard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1:2006 + A1:2009
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574:1996 + A1:2008
UL, ANSI, and other standards
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
Product specification - IRB 140
15
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
Continued
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 environments, and
one for clean room environments. An end effector, weighing a maximum of 6 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 in Holes for
mounting of extra equipment on page 26 .
16
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.1 Introduction
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 16 |
European standards
The product is designed in accordance with selected parts of:
Description
Standard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1:2006 + A1:2009
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574:1996 + A1:2008
UL, ANSI, and other standards
Description
Standard
Safety requirements for industrial robots and robot systems
ANSI/RIA R15.06
Safety standard for robots and robotic equipment
ANSI/UL 1740
Industrial robots and robot Systems - General safety require-
ments
CAN/CSA Z 434-14
Product specification - IRB 140
15
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.2.1 Applicable standards
Continued
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 environments, and
one for clean room environments. An end effector, weighing a maximum of 6 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 in Holes for
mounting of extra equipment on page 26 .
16
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.1 Introduction
1.3.2 Operating requirements
General
IEC60529
Robot version/ Protection standard
IP67
All variants, manipulator
Steam washable
The Foundry Plus and SteamWash versions are steam washable.
Clean room standards
Clean room manipulator ISO 14644-1 class 6.
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Temperature
Standard/Option
Description
+ 5°C i (41°F) to + 45°C (113°F)
Standard
Manipulator during opera-
tion
See Product specification - Control-
ler IRC5 with FlexPendant
Standard/Option
For the controller
- 25°C (-13°F) to + 55°C (131°F)
Standard
Complete robot during
transportation and storage
up to + 70°C (158°F)
Standard
For short periods (not ex-
ceeding 24 hours)
i
At low environmental temperature < 10 o C is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Relative humidity
Relative humidity
Description
Max. 95% at constant temperature
Complete robot during transportation and storage
Max. 95% at constant temperature
Complete robot during operation
Mounting the manipulator
Maximum load in relation to the base coordinate system. See figures below:
Floor Mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2000 N
± 1020 N
Force xy
- 1000 ± 1250 N
- 1000 ± 620 N
Force z
± 1500 Nm
± 700 Nm
Torque xy
± 470 Nm
± 250 Nm
Torque z
Continues on next page
Product specification - IRB 140
17
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© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
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| 17 |
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 environments, and
one for clean room environments. An end effector, weighing a maximum of 6 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 in Holes for
mounting of extra equipment on page 26 .
16
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.1 Introduction
1.3.2 Operating requirements
General
IEC60529
Robot version/ Protection standard
IP67
All variants, manipulator
Steam washable
The Foundry Plus and SteamWash versions are steam washable.
Clean room standards
Clean room manipulator ISO 14644-1 class 6.
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Temperature
Standard/Option
Description
+ 5°C i (41°F) to + 45°C (113°F)
Standard
Manipulator during opera-
tion
See Product specification - Control-
ler IRC5 with FlexPendant
Standard/Option
For the controller
- 25°C (-13°F) to + 55°C (131°F)
Standard
Complete robot during
transportation and storage
up to + 70°C (158°F)
Standard
For short periods (not ex-
ceeding 24 hours)
i
At low environmental temperature < 10 o C is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Relative humidity
Relative humidity
Description
Max. 95% at constant temperature
Complete robot during transportation and storage
Max. 95% at constant temperature
Complete robot during operation
Mounting the manipulator
Maximum load in relation to the base coordinate system. See figures below:
Floor Mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2000 N
± 1020 N
Force xy
- 1000 ± 1250 N
- 1000 ± 620 N
Force z
± 1500 Nm
± 700 Nm
Torque xy
± 470 Nm
± 250 Nm
Torque z
Continues on next page
Product specification - IRB 140
17
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Wall Mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2800 N
± 1750 N
Force xy
± 1600 N
± 850 N
Force z
± 1710 Nm
± 1020 Nm
Torque xy
± 485 Nm
± 250 Nm
Torque z
Suspended
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2000 N
± 1020 N
Force xy
+ 1000 ± 1250 N
+ 1000 ± 620 N
Force z
± 1500 Nm
± 700 Nm
Torque xy
± 470 Nm
± 250 Nm
Torque z
X
Y
Torque
(M )
xy
xy
Force
(F )
xy
xy
Force (F )
z
z
Torque
(M )
z
z
xx1000000860
Continues on next page
18
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
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| 18 |
1.3.2 Operating requirements
General
IEC60529
Robot version/ Protection standard
IP67
All variants, manipulator
Steam washable
The Foundry Plus and SteamWash versions are steam washable.
Clean room standards
Clean room manipulator ISO 14644-1 class 6.
Explosive environments
The robot must not be located or operated in an explosive environment.
Ambient temperature
Temperature
Standard/Option
Description
+ 5°C i (41°F) to + 45°C (113°F)
Standard
Manipulator during opera-
tion
See Product specification - Control-
ler IRC5 with FlexPendant
Standard/Option
For the controller
- 25°C (-13°F) to + 55°C (131°F)
Standard
Complete robot during
transportation and storage
up to + 70°C (158°F)
Standard
For short periods (not ex-
ceeding 24 hours)
i
At low environmental temperature < 10 o C is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Relative humidity
Relative humidity
Description
Max. 95% at constant temperature
Complete robot during transportation and storage
Max. 95% at constant temperature
Complete robot during operation
Mounting the manipulator
Maximum load in relation to the base coordinate system. See figures below:
Floor Mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2000 N
± 1020 N
Force xy
- 1000 ± 1250 N
- 1000 ± 620 N
Force z
± 1500 Nm
± 700 Nm
Torque xy
± 470 Nm
± 250 Nm
Torque z
Continues on next page
Product specification - IRB 140
17
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Wall Mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2800 N
± 1750 N
Force xy
± 1600 N
± 850 N
Force z
± 1710 Nm
± 1020 Nm
Torque xy
± 485 Nm
± 250 Nm
Torque z
Suspended
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2000 N
± 1020 N
Force xy
+ 1000 ± 1250 N
+ 1000 ± 620 N
Force z
± 1500 Nm
± 700 Nm
Torque xy
± 470 Nm
± 250 Nm
Torque z
X
Y
Torque
(M )
xy
xy
Force
(F )
xy
xy
Force (F )
z
z
Torque
(M )
z
z
xx1000000860
Continues on next page
18
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
Note regarding M xy and F xy
The bending torque (M xy ) can occur in any direction in the XY-plane of the base
coordinate system.
The same applies to the transverse force (F xy ).
Illustration
Ø 25H8 (2x)
80
155
A
A
B
B - B
39
180
180
X
Ø 0,25
Y
Ø 25H8 (2x)
80
Ø13
155
A
A
B
B
B - B
39
180
180
X
Ø 0,25
Y
Z
A
Ø 0,6
Ø 0,
A
xx0200000085
Continues on next page
Product specification - IRB 140
19
3HAC041346-001 Revision: Q
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1 Description
1.3.2 Operating requirements
Continued
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| 19 |
Wall Mounted
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2800 N
± 1750 N
Force xy
± 1600 N
± 850 N
Force z
± 1710 Nm
± 1020 Nm
Torque xy
± 485 Nm
± 250 Nm
Torque z
Suspended
Max. load (emergency stop)
Endurance load (in operation)
Force
± 2000 N
± 1020 N
Force xy
+ 1000 ± 1250 N
+ 1000 ± 620 N
Force z
± 1500 Nm
± 700 Nm
Torque xy
± 470 Nm
± 250 Nm
Torque z
X
Y
Torque
(M )
xy
xy
Force
(F )
xy
xy
Force (F )
z
z
Torque
(M )
z
z
xx1000000860
Continues on next page
18
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
Note regarding M xy and F xy
The bending torque (M xy ) can occur in any direction in the XY-plane of the base
coordinate system.
The same applies to the transverse force (F xy ).
Illustration
Ø 25H8 (2x)
80
155
A
A
B
B - B
39
180
180
X
Ø 0,25
Y
Ø 25H8 (2x)
80
Ø13
155
A
A
B
B
B - B
39
180
180
X
Ø 0,25
Y
Z
A
Ø 0,6
Ø 0,
A
xx0200000085
Continues on next page
Product specification - IRB 140
19
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
A-A
xx0200000086
Attachment bolts, specification
The table below specifies the type of securing screws and washers to be used for
securing the robot to the base/foundation.
Description
Specification
M12
Suitable screws, lightly lubricated:
8.8
Quality
Thickness: 2.5 mm
Suitable washers:
Outer diameter: 24 mm
Inner diameter: 13.4 mm
85 Nm
Tightening torque:
Note
When the robot is to be mounted in a tilted or a suspended position, the guide
sleeves must be used to secure the bolted joint.
20
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
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| 20 |
Note regarding M xy and F xy
The bending torque (M xy ) can occur in any direction in the XY-plane of the base
coordinate system.
The same applies to the transverse force (F xy ).
Illustration
Ø 25H8 (2x)
80
155
A
A
B
B - B
39
180
180
X
Ø 0,25
Y
Ø 25H8 (2x)
80
Ø13
155
A
A
B
B
B - B
39
180
180
X
Ø 0,25
Y
Z
A
Ø 0,6
Ø 0,
A
xx0200000085
Continues on next page
Product specification - IRB 140
19
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
A-A
xx0200000086
Attachment bolts, specification
The table below specifies the type of securing screws and washers to be used for
securing the robot to the base/foundation.
Description
Specification
M12
Suitable screws, lightly lubricated:
8.8
Quality
Thickness: 2.5 mm
Suitable washers:
Outer diameter: 24 mm
Inner diameter: 13.4 mm
85 Nm
Tightening torque:
Note
When the robot is to be mounted in a tilted or a suspended position, the guide
sleeves must be used to secure the bolted joint.
20
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
1.4 Load diagram
1.4.1 Introduction
Information
WARNING
It is very important to always define correct actual load data and correct payload
of the robot. Incorrect definitions of load data can result in overloading of the
robot.
If incorrect load data and/or loads are outside load diagram is used the following
parts can be damaged due to overload:
•
motors
•
gearboxes
•
mechanical structure
WARNING
In the robot system there is a service routine called LoadIdentify available, which
allows the user to make an automatic definition of the tool and load, to determine
correct load parameters. See Operating manual - IRC5 with FlexPendant .
WARNING
Robots running with incorrect load data and/or with loads outside diagram, will
not be covered by robot warranty.
General
The load diagram includes a nominal pay load inertia, J 0 of 0.012 kgm 2 . At different
moment of inertia the load diagram will be changed. For robots that are allowed
tilted, wall or inverted mounted, the load diagrams as given are valid and thus it is
also possible to use RobotLoad within those tilt and axis limits.
Control of load case by "RobotLoad"
To easily control a specific load case, use the calculation program ABB RobotLoad.
Contact your local ABB organization for more information.
The result from RobotLoad is only valid within the maximum loads and tilt angles.
There is no warning if the maximum permitted armload is exceeded. For over load
cases and special applications, contact ABB for further analysis.
Product specification - IRB 140
21
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.1 Introduction
|
ABB_IRB140_Product_Specifications.pdf
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| 21 |
A-A
xx0200000086
Attachment bolts, specification
The table below specifies the type of securing screws and washers to be used for
securing the robot to the base/foundation.
Description
Specification
M12
Suitable screws, lightly lubricated:
8.8
Quality
Thickness: 2.5 mm
Suitable washers:
Outer diameter: 24 mm
Inner diameter: 13.4 mm
85 Nm
Tightening torque:
Note
When the robot is to be mounted in a tilted or a suspended position, the guide
sleeves must be used to secure the bolted joint.
20
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.3.2 Operating requirements
Continued
1.4 Load diagram
1.4.1 Introduction
Information
WARNING
It is very important to always define correct actual load data and correct payload
of the robot. Incorrect definitions of load data can result in overloading of the
robot.
If incorrect load data and/or loads are outside load diagram is used the following
parts can be damaged due to overload:
•
motors
•
gearboxes
•
mechanical structure
WARNING
In the robot system there is a service routine called LoadIdentify available, which
allows the user to make an automatic definition of the tool and load, to determine
correct load parameters. See Operating manual - IRC5 with FlexPendant .
WARNING
Robots running with incorrect load data and/or with loads outside diagram, will
not be covered by robot warranty.
General
The load diagram includes a nominal pay load inertia, J 0 of 0.012 kgm 2 . At different
moment of inertia the load diagram will be changed. For robots that are allowed
tilted, wall or inverted mounted, the load diagrams as given are valid and thus it is
also possible to use RobotLoad within those tilt and axis limits.
Control of load case by "RobotLoad"
To easily control a specific load case, use the calculation program ABB RobotLoad.
Contact your local ABB organization for more information.
The result from RobotLoad is only valid within the maximum loads and tilt angles.
There is no warning if the maximum permitted armload is exceeded. For over load
cases and special applications, contact ABB for further analysis.
Product specification - IRB 140
21
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.1 Introduction
1.4.2 Diagrams
Introduction
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 the table
below Figure below.
IRB 140-6/0.8
xx1000000862
Description
See the above diagram and the coordinate system in the Product specification
- IRC5 with FlexPendant
Z
Distance in X-Y plane from Z-axis to the center of gravity
L
Rated own moment of inertia on the total handle weight = 0.012 kgm 2
J 0
22
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.2 Diagrams
|
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| 22 |
1.4 Load diagram
1.4.1 Introduction
Information
WARNING
It is very important to always define correct actual load data and correct payload
of the robot. Incorrect definitions of load data can result in overloading of the
robot.
If incorrect load data and/or loads are outside load diagram is used the following
parts can be damaged due to overload:
•
motors
•
gearboxes
•
mechanical structure
WARNING
In the robot system there is a service routine called LoadIdentify available, which
allows the user to make an automatic definition of the tool and load, to determine
correct load parameters. See Operating manual - IRC5 with FlexPendant .
WARNING
Robots running with incorrect load data and/or with loads outside diagram, will
not be covered by robot warranty.
General
The load diagram includes a nominal pay load inertia, J 0 of 0.012 kgm 2 . At different
moment of inertia the load diagram will be changed. For robots that are allowed
tilted, wall or inverted mounted, the load diagrams as given are valid and thus it is
also possible to use RobotLoad within those tilt and axis limits.
Control of load case by "RobotLoad"
To easily control a specific load case, use the calculation program ABB RobotLoad.
Contact your local ABB organization for more information.
The result from RobotLoad is only valid within the maximum loads and tilt angles.
There is no warning if the maximum permitted armload is exceeded. For over load
cases and special applications, contact ABB for further analysis.
Product specification - IRB 140
21
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.1 Introduction
1.4.2 Diagrams
Introduction
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 the table
below Figure below.
IRB 140-6/0.8
xx1000000862
Description
See the above diagram and the coordinate system in the Product specification
- IRC5 with FlexPendant
Z
Distance in X-Y plane from Z-axis to the center of gravity
L
Rated own moment of inertia on the total handle weight = 0.012 kgm 2
J 0
22
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.2 Diagrams
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J ox , J oy , J ox ) in kgm 2 . L= ÷(X2 + Y2), see Figure below.
Full movement of Axis 5 (±115º)
Max. value
Robot Type
Axis
J 5 = Mass x ((Z + 0.065) 2 + L 2 ) + max (J ox , J oy ) ≤0.42 kgm 2
IRB 140(T)-6/0.8
5
J 6 = Mass x L2 + J 0Z ≤0.30 kgm 2
IRB 140(T)-6/0.8
6
xx1000000866
Description
Pos
Center of gravity
A
Description
Max. moment of inertia around the X, Y and Z axes at center
of gravity.
Jox, Joy, Joz
Wrist torque
The table below shows the maximum permissible torque due to payload.
Note
The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those
also are limited by main axes torques as well as dynamic loads. Also arm loads
will influence the permitted load diagram. For finding the absolute limits of the
load diagram, please use the ABB RobotLoad. Please contact your local ABB
organization.
Max torque valid at
load
Max wrist torque
axis 6
Max wrist torque
axis 4 and 5
Robot type
5 kg
4.91 Nm
8.58 Nm
IRB 140(T)-6/0.8
Product specification - IRB 140
23
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
|
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|
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| 23 |
1.4.2 Diagrams
Introduction
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 the table
below Figure below.
IRB 140-6/0.8
xx1000000862
Description
See the above diagram and the coordinate system in the Product specification
- IRC5 with FlexPendant
Z
Distance in X-Y plane from Z-axis to the center of gravity
L
Rated own moment of inertia on the total handle weight = 0.012 kgm 2
J 0
22
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.2 Diagrams
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J ox , J oy , J ox ) in kgm 2 . L= ÷(X2 + Y2), see Figure below.
Full movement of Axis 5 (±115º)
Max. value
Robot Type
Axis
J 5 = Mass x ((Z + 0.065) 2 + L 2 ) + max (J ox , J oy ) ≤0.42 kgm 2
IRB 140(T)-6/0.8
5
J 6 = Mass x L2 + J 0Z ≤0.30 kgm 2
IRB 140(T)-6/0.8
6
xx1000000866
Description
Pos
Center of gravity
A
Description
Max. moment of inertia around the X, Y and Z axes at center
of gravity.
Jox, Joy, Joz
Wrist torque
The table below shows the maximum permissible torque due to payload.
Note
The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those
also are limited by main axes torques as well as dynamic loads. Also arm loads
will influence the permitted load diagram. For finding the absolute limits of the
load diagram, please use the ABB RobotLoad. Please contact your local ABB
organization.
Max torque valid at
load
Max wrist torque
axis 6
Max wrist torque
axis 4 and 5
Robot type
5 kg
4.91 Nm
8.58 Nm
IRB 140(T)-6/0.8
Product specification - IRB 140
23
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
1.4.4 Maximum TCP acceleration
General
Higher values can be reached with lower loads than the nominal because of our
dynamical motion control QuickMove2. For specific values in the unique customer
cycle, or for robots not listed in the table below, we recommend then to use
RobotStudio.
Maximum Cartesian design acceleration for nominal loads
Controlled Motion
Max acceleration at nominal load COG
[m/s 2 ]
E-stop
Max acceleration at nominal load
COG [m/s 2 ]
Robot type
57
110
IRB 140T
Note
Acceleration levels for E-stop and controlled motion includes acceleration due
to gravitational forces. Nominal load is define with nominal mass and cog with
max offset in Z and L (see load diagram).
24
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.4 Maximum TCP acceleration
|
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| 24 |
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
General
Total load given as: Mass in kg, center of gravity (Z and L) in m and moment of
inertia (J ox , J oy , J ox ) in kgm 2 . L= ÷(X2 + Y2), see Figure below.
Full movement of Axis 5 (±115º)
Max. value
Robot Type
Axis
J 5 = Mass x ((Z + 0.065) 2 + L 2 ) + max (J ox , J oy ) ≤0.42 kgm 2
IRB 140(T)-6/0.8
5
J 6 = Mass x L2 + J 0Z ≤0.30 kgm 2
IRB 140(T)-6/0.8
6
xx1000000866
Description
Pos
Center of gravity
A
Description
Max. moment of inertia around the X, Y and Z axes at center
of gravity.
Jox, Joy, Joz
Wrist torque
The table below shows the maximum permissible torque due to payload.
Note
The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those
also are limited by main axes torques as well as dynamic loads. Also arm loads
will influence the permitted load diagram. For finding the absolute limits of the
load diagram, please use the ABB RobotLoad. Please contact your local ABB
organization.
Max torque valid at
load
Max wrist torque
axis 6
Max wrist torque
axis 4 and 5
Robot type
5 kg
4.91 Nm
8.58 Nm
IRB 140(T)-6/0.8
Product specification - IRB 140
23
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
1.4.4 Maximum TCP acceleration
General
Higher values can be reached with lower loads than the nominal because of our
dynamical motion control QuickMove2. For specific values in the unique customer
cycle, or for robots not listed in the table below, we recommend then to use
RobotStudio.
Maximum Cartesian design acceleration for nominal loads
Controlled Motion
Max acceleration at nominal load COG
[m/s 2 ]
E-stop
Max acceleration at nominal load
COG [m/s 2 ]
Robot type
57
110
IRB 140T
Note
Acceleration levels for E-stop and controlled motion includes acceleration due
to gravitational forces. Nominal load is define with nominal mass and cog with
max offset in Z and L (see load diagram).
24
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.4 Maximum TCP acceleration
1.5 Mounting of equipment
1.5.1 Introduction
General
Extra loads can be mounted on to the wrist and on to the upper arm housing.
Definitions of load areas and permitted load are shown in Figure below. The center
of gravity of the extra load shall be within the marked load areas. The robot is
supplied with holes for mounting of extra equipment.
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000867
Description
Position
Center line of Axis 5
A
Maximum 0.5 kg when 1.0 kg on to the upper arm house
B
0 kg when 1.5 kg on to the upper arm house
Maximum 1 kg when 0.5 kg on to the wrist
C
1.5 kg when 0 kg on to the wrist
Product specification - IRB 140
25
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.1 Introduction
|
ABB_IRB140_Product_Specifications.pdf
|
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| 25 |
1.4.4 Maximum TCP acceleration
General
Higher values can be reached with lower loads than the nominal because of our
dynamical motion control QuickMove2. For specific values in the unique customer
cycle, or for robots not listed in the table below, we recommend then to use
RobotStudio.
Maximum Cartesian design acceleration for nominal loads
Controlled Motion
Max acceleration at nominal load COG
[m/s 2 ]
E-stop
Max acceleration at nominal load
COG [m/s 2 ]
Robot type
57
110
IRB 140T
Note
Acceleration levels for E-stop and controlled motion includes acceleration due
to gravitational forces. Nominal load is define with nominal mass and cog with
max offset in Z and L (see load diagram).
24
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.4.4 Maximum TCP acceleration
1.5 Mounting of equipment
1.5.1 Introduction
General
Extra loads can be mounted on to the wrist and on to the upper arm housing.
Definitions of load areas and permitted load are shown in Figure below. The center
of gravity of the extra load shall be within the marked load areas. The robot is
supplied with holes for mounting of extra equipment.
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000867
Description
Position
Center line of Axis 5
A
Maximum 0.5 kg when 1.0 kg on to the upper arm house
B
0 kg when 1.5 kg on to the upper arm house
Maximum 1 kg when 0.5 kg on to the wrist
C
1.5 kg when 0 kg on to the wrist
Product specification - IRB 140
25
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.1 Introduction
1.5.2 Holes for mounting of extra equipment
Wrist design IRB 140 IRC5
xx1000000868
Wrist design IRB 140 IRC5, Type C
xx1000000869
Upper arm housing
![Image]
![Image]
xx1000000870
Description
Position
Design until September 2006: 2x M5 depth 7.5, Mounting holes for equipment.
A
Design after September 2006, Type C: 2x M6 depth 10, Mounting holes for
equipment.
2x M5 depth 7.5, Mounting holes for equipment.
B
Continues on next page
26
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.2 Holes for mounting of extra equipment
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 26 |
1.5 Mounting of equipment
1.5.1 Introduction
General
Extra loads can be mounted on to the wrist and on to the upper arm housing.
Definitions of load areas and permitted load are shown in Figure below. The center
of gravity of the extra load shall be within the marked load areas. The robot is
supplied with holes for mounting of extra equipment.
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
xx1000000867
Description
Position
Center line of Axis 5
A
Maximum 0.5 kg when 1.0 kg on to the upper arm house
B
0 kg when 1.5 kg on to the upper arm house
Maximum 1 kg when 0.5 kg on to the wrist
C
1.5 kg when 0 kg on to the wrist
Product specification - IRB 140
25
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.1 Introduction
1.5.2 Holes for mounting of extra equipment
Wrist design IRB 140 IRC5
xx1000000868
Wrist design IRB 140 IRC5, Type C
xx1000000869
Upper arm housing
![Image]
![Image]
xx1000000870
Description
Position
Design until September 2006: 2x M5 depth 7.5, Mounting holes for equipment.
A
Design after September 2006, Type C: 2x M6 depth 10, Mounting holes for
equipment.
2x M5 depth 7.5, Mounting holes for equipment.
B
Continues on next page
26
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.2 Holes for mounting of extra equipment
Robot tool flange
xx1000000871
Product specification - IRB 140
27
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.2 Holes for mounting of extra equipment
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
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| 27 |
1.5.2 Holes for mounting of extra equipment
Wrist design IRB 140 IRC5
xx1000000868
Wrist design IRB 140 IRC5, Type C
xx1000000869
Upper arm housing
![Image]
![Image]
xx1000000870
Description
Position
Design until September 2006: 2x M5 depth 7.5, Mounting holes for equipment.
A
Design after September 2006, Type C: 2x M6 depth 10, Mounting holes for
equipment.
2x M5 depth 7.5, Mounting holes for equipment.
B
Continues on next page
26
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.2 Holes for mounting of extra equipment
Robot tool flange
xx1000000871
Product specification - IRB 140
27
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.2 Holes for mounting of extra equipment
Continued
1.6 Calibration and references
1.6.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
The original calibration data delivered with the robot is generated when the robot
is floor mounted. If the robot is not floor mounted, then the robot accuracy could
be affected. The robot needs to be calibrated after it is mounted.
More information is available in the product manual.
Types of calibration
Calibration method
Description
Type of calibration
Calibration Pendulum
The calibrated robot is positioned at calibration
position.
Standard calibration
Levelmeter calibration
(alternative method)
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
![Image]
xx0400001197
Continues on next page
28
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods
|
ABB_IRB140_Product_Specifications.pdf
|
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| 28 |
Robot tool flange
xx1000000871
Product specification - IRB 140
27
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.5.2 Holes for mounting of extra equipment
Continued
1.6 Calibration and references
1.6.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
The original calibration data delivered with the robot is generated when the robot
is floor mounted. If the robot is not floor mounted, then the robot accuracy could
be affected. The robot needs to be calibrated after it is mounted.
More information is available in the product manual.
Types of calibration
Calibration method
Description
Type of calibration
Calibration Pendulum
The calibrated robot is positioned at calibration
position.
Standard calibration
Levelmeter calibration
(alternative method)
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
![Image]
xx0400001197
Continues on next page
28
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods
Calibration method
Description
Type of calibration
Wrist Optimization
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4, 5 and 6.
Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of all ABB
robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
•
Calibration Pendulum II
•
Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The following routines are available for the Wrist Optimization method:
•
Wrist Optimization
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
Product specification - IRB 140
29
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 29 |
1.6 Calibration and references
1.6.1 Calibration methods
Overview
This section specifies the different types of calibration and the calibration methods
that are supplied by ABB.
The original calibration data delivered with the robot is generated when the robot
is floor mounted. If the robot is not floor mounted, then the robot accuracy could
be affected. The robot needs to be calibrated after it is mounted.
More information is available in the product manual.
Types of calibration
Calibration method
Description
Type of calibration
Calibration Pendulum
The calibrated robot is positioned at calibration
position.
Standard calibration
Levelmeter calibration
(alternative method)
Standard calibration data is found on the SMB
(serial measurement board) or EIB in the robot.
For robots with RobotWare 5.04 or older, the
calibration data is delivered in a file, calib.cfg,
supplied with the robot at delivery. The file
identifies the correct resolver/motor position
corresponding to the robot home position.
CalibWare
Based on standard calibration, and besides
positioning the robot at synchronization posi-
tion, the Absolute accuracy calibration also
compensates for:
•
Mechanical tolerances in the robot
structure
•
Deflection due to load
Absolute accuracy calibration focuses on pos-
itioning accuracy in the Cartesian coordinate
system for the robot.
Absolute accuracy
calibration (option-
al)
Absolute accuracy calibration data is found
on the SMB (serial measurement board) in the
robot.
For robots with RobotWare 5.05 or older, the
absolute accuracy calibration data is delivered
in a file, absacc.cfg, supplied with the robot at
delivery. The file replaces the calib.cfg file and
identifies motor positions as well as absolute
accuracy compensation parameters.
A robot calibrated with Absolute accuracy has
a sticker next to the identification plate of the
robot.
To regain 100% Absolute accuracy perform-
ance, the robot must be recalibrated for abso-
lute accuracy after repair or maintenance that
affects the mechanical structure.
![Image]
xx0400001197
Continues on next page
28
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods
Calibration method
Description
Type of calibration
Wrist Optimization
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4, 5 and 6.
Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of all ABB
robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
•
Calibration Pendulum II
•
Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The following routines are available for the Wrist Optimization method:
•
Wrist Optimization
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
Product specification - IRB 140
29
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods
Continued
1.6.2 Fine calibration
General
Fine calibration is made using the Calibration Pendulum, see Operating
manual - Calibration Pendulum .
![Image]
xx1000000859
Description
Pos
Description
Pos
Axis 2
B
Axis 1
A
Axis 4
D
Axis 3
C
Axis 6
F
Axis 5
E
Calibration
Position
Calibration
All axes are in zero position
Calibration of all axes
Axis 1 and 2 in zero position
Calibration of axis 1 and 2
Axis 3 to 6 in any position
Axis 1 in zero position
Calibration of axis 1
Axis 2 to 6 in any position
30
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.2 Fine calibration
|
ABB_IRB140_Product_Specifications.pdf
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| 30 |
Calibration method
Description
Type of calibration
Wrist Optimization
Optimization of TCP reorientation perform-
ance. The purpose is to improve reorientation
accuracy for continuous processes like weld-
ing and gluing.
Optimization
Wrist optimization will update standard calib-
ration data for axes 4, 5 and 6.
Brief description of calibration methods
Calibration Pendulum method
Calibration Pendulum is a standard calibration method for calibration of all ABB
robots (except IRB 6400R, IRB 640, IRB 1400H, and IRB 4400S).
Two different routines are available for the Calibration Pendulum method:
•
Calibration Pendulum II
•
Reference calibration
The calibration equipment for Calibration Pendulum is delivered as a complete
toolkit, including the Operating manual - Calibration Pendulum , which describes
the method and the different routines further.
Wrist Optimization method
Wrist Optimization is a method for improving reorientation accuracy for continuous
processes like welding and gluing and is a complement to the standard calibration
method.
The following routines are available for the Wrist Optimization method:
•
Wrist Optimization
The actual instructions of how to perform the calibration procedure and what to
do at each step is given on the FlexPendant. You will be guided through the
calibration procedure, step by step.
CalibWare - Absolute Accuracy calibration
The CalibWare tool guides through the calibration process and calculates new
compensation parameters. This is further detailed in the Application
manual - CalibWare Field .
If a service operation is done to a robot with the option Absolute Accuracy, a new
absolute accuracy calibration is required in order to establish full performance.
For most cases after replacements that do not include taking apart the robot
structure, standard calibration is sufficient.
Product specification - IRB 140
29
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.1 Calibration methods
Continued
1.6.2 Fine calibration
General
Fine calibration is made using the Calibration Pendulum, see Operating
manual - Calibration Pendulum .
![Image]
xx1000000859
Description
Pos
Description
Pos
Axis 2
B
Axis 1
A
Axis 4
D
Axis 3
C
Axis 6
F
Axis 5
E
Calibration
Position
Calibration
All axes are in zero position
Calibration of all axes
Axis 1 and 2 in zero position
Calibration of axis 1 and 2
Axis 3 to 6 in any position
Axis 1 in zero position
Calibration of axis 1
Axis 2 to 6 in any position
30
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.2 Fine calibration
1.6.3 Absolute Accuracy calibration
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
•
Exchangeability of robots
•
Offline programming with no or minimum touch-up
•
Online programming with accurate movement and reorientation of tool
•
Programming with accurate offset movement in relation to eg. vision system
or offset programming
•
Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
![Image]
xx1000000863
What is included
Every Absolute Accuracy robot is delivered with:
•
compensation parameters saved on the robot’s serial measurement board
•
a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
Continues on next page
Product specification - IRB 140
31
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.3 Absolute Accuracy calibration
|
ABB_IRB140_Product_Specifications.pdf
|
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| 31 |
1.6.2 Fine calibration
General
Fine calibration is made using the Calibration Pendulum, see Operating
manual - Calibration Pendulum .
![Image]
xx1000000859
Description
Pos
Description
Pos
Axis 2
B
Axis 1
A
Axis 4
D
Axis 3
C
Axis 6
F
Axis 5
E
Calibration
Position
Calibration
All axes are in zero position
Calibration of all axes
Axis 1 and 2 in zero position
Calibration of axis 1 and 2
Axis 3 to 6 in any position
Axis 1 in zero position
Calibration of axis 1
Axis 2 to 6 in any position
30
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.2 Fine calibration
1.6.3 Absolute Accuracy calibration
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
•
Exchangeability of robots
•
Offline programming with no or minimum touch-up
•
Online programming with accurate movement and reorientation of tool
•
Programming with accurate offset movement in relation to eg. vision system
or offset programming
•
Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
![Image]
xx1000000863
What is included
Every Absolute Accuracy robot is delivered with:
•
compensation parameters saved on the robot’s serial measurement board
•
a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
Continues on next page
Product specification - IRB 140
31
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.3 Absolute Accuracy calibration
A robot with Absolute Accuracy calibration has a label with this information on the
manipulator.
Absolute Accuracy supports both floor mounted and inverted installations. The
compensation parameters differ depending on if the robot is floor mounted or
inverted.
When is Absolute Accuracy being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
•
Any motion function based on robtargets (e.g. MoveL ) and ModPos on
robtargets
•
Reorientation jogging
•
Linear jogging
•
Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
•
Work object definition
Absolute Accuracy not active
The following are examples of when Absolute Accuracy is not active:
•
Any motion function based on a jointtarget ( MoveAbsJ )
•
Independent joint
•
Joint based jogging
•
Additional axes
•
Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.
Production data
Typical production data regarding calibration are:
Positioning accuracy (mm)
Robot
% Within 1 mm
Max
Average
100
0.75
0.35
IRB 140(T)-6/0.8
32
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.3 Absolute Accuracy calibration
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 32 |
1.6.3 Absolute Accuracy calibration
Purpose
Absolute Accuracy is a calibration concept that improves TCP accuracy. The
difference between an ideal robot and a real robot can be several millimeters,
resulting from mechanical tolerances and deflection in the robot structure. Absolute
Accuracy compensates for these differences.
Here are some examples of when this accuracy is important:
•
Exchangeability of robots
•
Offline programming with no or minimum touch-up
•
Online programming with accurate movement and reorientation of tool
•
Programming with accurate offset movement in relation to eg. vision system
or offset programming
•
Re-use of programs between applications
The option Absolute Accuracy is integrated in the controller algorithms and does
not need external equipment or calculation.
Note
The performance data is applicable to the corresponding RobotWare version of
the individual robot.
![Image]
xx1000000863
What is included
Every Absolute Accuracy robot is delivered with:
•
compensation parameters saved on the robot’s serial measurement board
•
a birth certificate representing the Absolute Accuracy measurement protocol
for the calibration and verification sequence.
Continues on next page
Product specification - IRB 140
31
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.3 Absolute Accuracy calibration
A robot with Absolute Accuracy calibration has a label with this information on the
manipulator.
Absolute Accuracy supports both floor mounted and inverted installations. The
compensation parameters differ depending on if the robot is floor mounted or
inverted.
When is Absolute Accuracy being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
•
Any motion function based on robtargets (e.g. MoveL ) and ModPos on
robtargets
•
Reorientation jogging
•
Linear jogging
•
Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
•
Work object definition
Absolute Accuracy not active
The following are examples of when Absolute Accuracy is not active:
•
Any motion function based on a jointtarget ( MoveAbsJ )
•
Independent joint
•
Joint based jogging
•
Additional axes
•
Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.
Production data
Typical production data regarding calibration are:
Positioning accuracy (mm)
Robot
% Within 1 mm
Max
Average
100
0.75
0.35
IRB 140(T)-6/0.8
32
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.3 Absolute Accuracy calibration
Continued
1.7 Maintenance and troubleshooting
1.7.1 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 maintenance intervals depend on the use of the robot, the required maintenance
activities also depends on selected options. For detailed information on maintenance
procedures, see Maintenance section in the Product Manual.
Product specification - IRB 140
33
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.7.1 Introduction
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ABB_IRB140_Product_Specifications.pdf
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| 33 |
A robot with Absolute Accuracy calibration has a label with this information on the
manipulator.
Absolute Accuracy supports both floor mounted and inverted installations. The
compensation parameters differ depending on if the robot is floor mounted or
inverted.
When is Absolute Accuracy being used
Absolute Accuracy works on a robot target in Cartesian coordinates, not on the
individual joints. Therefore, joint based movements (e.g. MoveAbsJ ) will not be
affected.
If the robot is inverted, the Absolute Accuracy calibration must be performed when
the robot is inverted.
Absolute Accuracy active
Absolute Accuracy will be active in the following cases:
•
Any motion function based on robtargets (e.g. MoveL ) and ModPos on
robtargets
•
Reorientation jogging
•
Linear jogging
•
Tool definition (4, 5, 6 point tool definition, room fixed TCP, stationary tool)
•
Work object definition
Absolute Accuracy not active
The following are examples of when Absolute Accuracy is not active:
•
Any motion function based on a jointtarget ( MoveAbsJ )
•
Independent joint
•
Joint based jogging
•
Additional axes
•
Track motion
Note
In a robot system with, for example, an additional axis or track motion, the
Absolute Accuracy is active for the manipulator but not for the additional axis or
track motion.
RAPID instructions
There are no RAPID instructions included in this option.
Production data
Typical production data regarding calibration are:
Positioning accuracy (mm)
Robot
% Within 1 mm
Max
Average
100
0.75
0.35
IRB 140(T)-6/0.8
32
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.6.3 Absolute Accuracy calibration
Continued
1.7 Maintenance and troubleshooting
1.7.1 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 maintenance intervals depend on the use of the robot, the required maintenance
activities also depends on selected options. For detailed information on maintenance
procedures, see Maintenance section in the Product Manual.
Product specification - IRB 140
33
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.7.1 Introduction
1.8 Robot motion
1.8.1 Introduction
General
Range of movement
Type of motion
+ 180° to - 180°
Axis 1: Rotation motion
+ 110° to - 90°
Axis 2: Arm motion
+ 50° to - 230°
Axis 3: Arm motion
+ 200° to - 200° Default
Axis 4: Wrist motion
+ 165 revolutions to - 165 revolutions Max. i
+ 115° to - 115°
Axis 5: Bend motion
+ 400° to - 400° Default
Axis 6: Turn motion
+ 163 revolutions to -163 revolutions Max. i
i
The default working range for axis 4 and axis 6 can be extended by changing parameter values in
the software.
Option 610-1 Independent axis can be used for resetting the revolution counter
after the axis has been rotated (no need for “rewinding” the axis).
xx1000000872
Continues on next page
34
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.1 Introduction
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ABB_IRB140_Product_Specifications.pdf
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| 34 |
1.7 Maintenance and troubleshooting
1.7.1 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 maintenance intervals depend on the use of the robot, the required maintenance
activities also depends on selected options. For detailed information on maintenance
procedures, see Maintenance section in the Product Manual.
Product specification - IRB 140
33
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.7.1 Introduction
1.8 Robot motion
1.8.1 Introduction
General
Range of movement
Type of motion
+ 180° to - 180°
Axis 1: Rotation motion
+ 110° to - 90°
Axis 2: Arm motion
+ 50° to - 230°
Axis 3: Arm motion
+ 200° to - 200° Default
Axis 4: Wrist motion
+ 165 revolutions to - 165 revolutions Max. i
+ 115° to - 115°
Axis 5: Bend motion
+ 400° to - 400° Default
Axis 6: Turn motion
+ 163 revolutions to -163 revolutions Max. i
i
The default working range for axis 4 and axis 6 can be extended by changing parameter values in
the software.
Option 610-1 Independent axis can be used for resetting the revolution counter
after the axis has been rotated (no need for “rewinding” the axis).
xx1000000872
Continues on next page
34
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.1 Introduction
Angle (degrees)
Axis 3
Angle (degrees)
Axis 2
Position (mm) Z
Position (mm) X
Position (see Fig-
ure 12)
0
0
712
450
0
-90
0
1092
70
1
+50
0
421
314
2
-90
110
99
765
3
+50
-90
596
1
6
-230
110
558
218
7
-90
-90
352
-670
8
Product specification - IRB 140
35
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.1 Introduction
Continued
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ABB_IRB140_Product_Specifications.pdf
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| 35 |
1.8 Robot motion
1.8.1 Introduction
General
Range of movement
Type of motion
+ 180° to - 180°
Axis 1: Rotation motion
+ 110° to - 90°
Axis 2: Arm motion
+ 50° to - 230°
Axis 3: Arm motion
+ 200° to - 200° Default
Axis 4: Wrist motion
+ 165 revolutions to - 165 revolutions Max. i
+ 115° to - 115°
Axis 5: Bend motion
+ 400° to - 400° Default
Axis 6: Turn motion
+ 163 revolutions to -163 revolutions Max. i
i
The default working range for axis 4 and axis 6 can be extended by changing parameter values in
the software.
Option 610-1 Independent axis can be used for resetting the revolution counter
after the axis has been rotated (no need for “rewinding” the axis).
xx1000000872
Continues on next page
34
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.1 Introduction
Angle (degrees)
Axis 3
Angle (degrees)
Axis 2
Position (mm) Z
Position (mm) X
Position (see Fig-
ure 12)
0
0
712
450
0
-90
0
1092
70
1
+50
0
421
314
2
-90
110
99
765
3
+50
-90
596
1
6
-230
110
558
218
7
-90
-90
352
-670
8
Product specification - IRB 140
35
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.1 Introduction
Continued
1.8.2 Performance according to ISO 9283
General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Description
Position
Description
Position
Programmed path
E
Programmed position
A
Actual path at program execution
D
Mean position at program
execution
B
Max deviation from E to average path
AT
Mean distance from pro-
grammed position
AP
Tolerance of the path at repeated
program execution
RT
Tolerance of position B at re-
peated positioning
RP
Values
Description
140-6/0.8 and 140T-6/0.8
IRB
0.03
Pose repeatability, RP (mm)
0.02
Pose accuracy, AP i (mm)
0.08
Linear path repeatability, RT (mm)
0.67
Linear path accuracy, AT (mm)
0.08
Pose stabilization time, Pst (s) within 0.2 mm
of the position
i
AP according to the ISO test above, is the difference between the teached position (position manually
modified in the cell) and the average position obtained during program execution.
The above values are the range of average test-results from a number of robots.
Continues on next page
36
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283
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ABB_IRB140_Product_Specifications.pdf
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| 36 |
Angle (degrees)
Axis 3
Angle (degrees)
Axis 2
Position (mm) Z
Position (mm) X
Position (see Fig-
ure 12)
0
0
712
450
0
-90
0
1092
70
1
+50
0
421
314
2
-90
110
99
765
3
+50
-90
596
1
6
-230
110
558
218
7
-90
-90
352
-670
8
Product specification - IRB 140
35
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.1 Introduction
Continued
1.8.2 Performance according to ISO 9283
General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Description
Position
Description
Position
Programmed path
E
Programmed position
A
Actual path at program execution
D
Mean position at program
execution
B
Max deviation from E to average path
AT
Mean distance from pro-
grammed position
AP
Tolerance of the path at repeated
program execution
RT
Tolerance of position B at re-
peated positioning
RP
Values
Description
140-6/0.8 and 140T-6/0.8
IRB
0.03
Pose repeatability, RP (mm)
0.02
Pose accuracy, AP i (mm)
0.08
Linear path repeatability, RT (mm)
0.67
Linear path accuracy, AT (mm)
0.08
Pose stabilization time, Pst (s) within 0.2 mm
of the position
i
AP according to the ISO test above, is the difference between the teached position (position manually
modified in the cell) and the average position obtained during program execution.
The above values are the range of average test-results from a number of robots.
Continues on next page
36
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283
Typical values for conveyor tracking
All values measured with PickMaster and IRC5.
Repeatability (mm)
Constant conveyor speed (mm/s)
0.4
100
0.7
300
Repeatability (mm)
Start/stop conveyor (mm/s)
0.7
300 (start/stop in 0.5 sec.)
Product specification - IRB 140
37
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283
Continued
|
ABB_IRB140_Product_Specifications.pdf
|
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| 37 |
1.8.2 Performance according to ISO 9283
General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Description
Position
Description
Position
Programmed path
E
Programmed position
A
Actual path at program execution
D
Mean position at program
execution
B
Max deviation from E to average path
AT
Mean distance from pro-
grammed position
AP
Tolerance of the path at repeated
program execution
RT
Tolerance of position B at re-
peated positioning
RP
Values
Description
140-6/0.8 and 140T-6/0.8
IRB
0.03
Pose repeatability, RP (mm)
0.02
Pose accuracy, AP i (mm)
0.08
Linear path repeatability, RT (mm)
0.67
Linear path accuracy, AT (mm)
0.08
Pose stabilization time, Pst (s) within 0.2 mm
of the position
i
AP according to the ISO test above, is the difference between the teached position (position manually
modified in the cell) and the average position obtained during program execution.
The above values are the range of average test-results from a number of robots.
Continues on next page
36
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283
Typical values for conveyor tracking
All values measured with PickMaster and IRC5.
Repeatability (mm)
Constant conveyor speed (mm/s)
0.4
100
0.7
300
Repeatability (mm)
Start/stop conveyor (mm/s)
0.7
300 (start/stop in 0.5 sec.)
Product specification - IRB 140
37
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283
Continued
1.8.3 Velocity
3-phase power supply
IRB 140T-6/0.8
IRB 140-6/0.8
Axis No.
250°/s
200°/s
1
250°/s
200°/s
2
260°/s
260°/s
3
360°/s
360°/s
4
360°/s
360°/s
5
450°/s
450°/s
6
1-phase power supply
When the robot uses a single phase power supply, like with IRC5 Compact
controller, the performance regarding max axis speed is reduced, see table below.
The reduced top speed can be increased if the power supply minimum voltage is
higher than the default setting 187 V (220x0.85). See the system parameter Mains
tolerance min , in Technical reference manual - System parameters .
Note that the robot acceleration is not affected by the single phase power supply.
Thus the cycle time may not be affected at all. RobotStudio can be used to test
the cycle. The parameter Mains tolerance min can also be modified in RobotStudio.
IRB 140T-6/0.8
IRB 140-6/0.8
Axis No.
229°/s
200°/s
1
228°/s
200°/s
2
245°/s
245°/s
3
348°/s
348°/s
4
360°/s
360°/s
5
450°/s
450°/s
6
Resolution
Approximately 0.01 o on each axis.
38
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.3 Velocity
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ABB_IRB140_Product_Specifications.pdf
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| 38 |
Typical values for conveyor tracking
All values measured with PickMaster and IRC5.
Repeatability (mm)
Constant conveyor speed (mm/s)
0.4
100
0.7
300
Repeatability (mm)
Start/stop conveyor (mm/s)
0.7
300 (start/stop in 0.5 sec.)
Product specification - IRB 140
37
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283
Continued
1.8.3 Velocity
3-phase power supply
IRB 140T-6/0.8
IRB 140-6/0.8
Axis No.
250°/s
200°/s
1
250°/s
200°/s
2
260°/s
260°/s
3
360°/s
360°/s
4
360°/s
360°/s
5
450°/s
450°/s
6
1-phase power supply
When the robot uses a single phase power supply, like with IRC5 Compact
controller, the performance regarding max axis speed is reduced, see table below.
The reduced top speed can be increased if the power supply minimum voltage is
higher than the default setting 187 V (220x0.85). See the system parameter Mains
tolerance min , in Technical reference manual - System parameters .
Note that the robot acceleration is not affected by the single phase power supply.
Thus the cycle time may not be affected at all. RobotStudio can be used to test
the cycle. The parameter Mains tolerance min can also be modified in RobotStudio.
IRB 140T-6/0.8
IRB 140-6/0.8
Axis No.
229°/s
200°/s
1
228°/s
200°/s
2
245°/s
245°/s
3
348°/s
348°/s
4
360°/s
360°/s
5
450°/s
450°/s
6
Resolution
Approximately 0.01 o on each axis.
38
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.3 Velocity
1.8.4 Robot stopping distances and times
Introduction
The stopping distances and times for category 0 and category 1 stops, as required
by EN ISO 10218-1 Annex B, are listed in Product specification - Robot stopping
distances according to ISO 10218-1 ( 3HAC048645-001 ).
Product specification - IRB 140
39
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.4 Robot stopping distances and times
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ABB_IRB140_Product_Specifications.pdf
|
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| 39 |
1.8.3 Velocity
3-phase power supply
IRB 140T-6/0.8
IRB 140-6/0.8
Axis No.
250°/s
200°/s
1
250°/s
200°/s
2
260°/s
260°/s
3
360°/s
360°/s
4
360°/s
360°/s
5
450°/s
450°/s
6
1-phase power supply
When the robot uses a single phase power supply, like with IRC5 Compact
controller, the performance regarding max axis speed is reduced, see table below.
The reduced top speed can be increased if the power supply minimum voltage is
higher than the default setting 187 V (220x0.85). See the system parameter Mains
tolerance min , in Technical reference manual - System parameters .
Note that the robot acceleration is not affected by the single phase power supply.
Thus the cycle time may not be affected at all. RobotStudio can be used to test
the cycle. The parameter Mains tolerance min can also be modified in RobotStudio.
IRB 140T-6/0.8
IRB 140-6/0.8
Axis No.
229°/s
200°/s
1
228°/s
200°/s
2
245°/s
245°/s
3
348°/s
348°/s
4
360°/s
360°/s
5
450°/s
450°/s
6
Resolution
Approximately 0.01 o on each axis.
38
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.3 Velocity
1.8.4 Robot stopping distances and times
Introduction
The stopping distances and times for category 0 and category 1 stops, as required
by EN ISO 10218-1 Annex B, are listed in Product specification - Robot stopping
distances according to ISO 10218-1 ( 3HAC048645-001 ).
Product specification - IRB 140
39
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.4 Robot stopping distances and times
1.8.5 Signals
Signal connections on robot arm
To connect 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
(R1/4”) at the base and an outlet (R1/4”) on the upper arm housing.
Values
Number
Description
49 V, 500 mA
12
Signals
Max. 8 bar, inner hose diameter 6.5 mm
1
Air
40
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.5 Signals
|
ABB_IRB140_Product_Specifications.pdf
|
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| 40 |
1.8.4 Robot stopping distances and times
Introduction
The stopping distances and times for category 0 and category 1 stops, as required
by EN ISO 10218-1 Annex B, are listed in Product specification - Robot stopping
distances according to ISO 10218-1 ( 3HAC048645-001 ).
Product specification - IRB 140
39
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.4 Robot stopping distances and times
1.8.5 Signals
Signal connections on robot arm
To connect 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
(R1/4”) at the base and an outlet (R1/4”) on the upper arm housing.
Values
Number
Description
49 V, 500 mA
12
Signals
Max. 8 bar, inner hose diameter 6.5 mm
1
Air
40
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.5 Signals
2 Specification of variants and options
2.1 Introduction to variants and options
General
The different variants and options for the IRB 140 are described in the following
sections. The same option numbers are used here as in the specification form.
The variants and options related to the robot controller are described in the product
specification for the controller.
Product specification - IRB 140
41
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.1 Introduction to variants and options
|
ABB_IRB140_Product_Specifications.pdf
|
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| 41 |
1.8.5 Signals
Signal connections on robot arm
To connect 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
(R1/4”) at the base and an outlet (R1/4”) on the upper arm housing.
Values
Number
Description
49 V, 500 mA
12
Signals
Max. 8 bar, inner hose diameter 6.5 mm
1
Air
40
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
1 Description
1.8.5 Signals
2 Specification of variants and options
2.1 Introduction to variants and options
General
The different variants and options for the IRB 140 are described in the following
sections. The same option numbers are used here as in the specification form.
The variants and options related to the robot controller are described in the product
specification for the controller.
Product specification - IRB 140
41
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.1 Introduction to variants and options
2.2 Manipulator
Variants
Robots
Variant
Option
IRB 140-6/0.8
Standard performance
variant
435-87
IRB 140T-6/0.8
High speed variant
435-88
Manipulator color
Note
Description
Option
ABB Orange standard
209-1
ABB White standard
209-2
Standard color
ABB Graphite White standard
209-202
The manipulator is painted with the chosen RAL-
color
209-4--192
Note
Notice that delivery time for painted spare parts will increase for none standard
colors.
Protection types
Note
Protection type
Option
IP 67
Standard
287-4
See Protection type Foundry Plus 2 on page 9 for a com-
plete description of protection type Foundry Plus 2.
Foundry Plus 2
287-3
Robot with protection type Clean Room fulfil class 6 accord-
ing to ISO 14644-1.
Clean Room
287-1
See Protection type Clean Room on page10 for a complete
description of protection type Clean Room.
The robot is labeled with "Clean Room".
Robot with the same protection as in option 287-3 Foundry
Plus 2.
SteamWash
287-5
Connector kit
Description
Option
Detached connectors, suitable to the connectors on the upper arm.
431-1
The kit consists of connectors, pins and sockets.
Continues on next page
42
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
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ABB_IRB140_Product_Specifications.pdf
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2 Specification of variants and options
2.1 Introduction to variants and options
General
The different variants and options for the IRB 140 are described in the following
sections. The same option numbers are used here as in the specification form.
The variants and options related to the robot controller are described in the product
specification for the controller.
Product specification - IRB 140
41
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.1 Introduction to variants and options
2.2 Manipulator
Variants
Robots
Variant
Option
IRB 140-6/0.8
Standard performance
variant
435-87
IRB 140T-6/0.8
High speed variant
435-88
Manipulator color
Note
Description
Option
ABB Orange standard
209-1
ABB White standard
209-2
Standard color
ABB Graphite White standard
209-202
The manipulator is painted with the chosen RAL-
color
209-4--192
Note
Notice that delivery time for painted spare parts will increase for none standard
colors.
Protection types
Note
Protection type
Option
IP 67
Standard
287-4
See Protection type Foundry Plus 2 on page 9 for a com-
plete description of protection type Foundry Plus 2.
Foundry Plus 2
287-3
Robot with protection type Clean Room fulfil class 6 accord-
ing to ISO 14644-1.
Clean Room
287-1
See Protection type Clean Room on page10 for a complete
description of protection type Clean Room.
The robot is labeled with "Clean Room".
Robot with the same protection as in option 287-3 Foundry
Plus 2.
SteamWash
287-5
Connector kit
Description
Option
Detached connectors, suitable to the connectors on the upper arm.
431-1
The kit consists of connectors, pins and sockets.
Continues on next page
42
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Safety lamp
Description
Option
Safety lamp
213-1
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
The safety lamp is required on a UL/UR approved robot.
Warranty
For the selected period of time, ABB will provide spare parts and labour to repair
or replace the non-conforming portion of the equipment without additional charges.
During that period, it is required to have a yearly Preventative Maintenance
according to ABB manuals to be performed by ABB. If due to customer restrains
no data can be analyzed in the ABB Ability service Condition Monitoring &
Diagnostics for robots with OmniCore controllers, and ABB has to travel to site,
travel expenses are not covered. The Extended Warranty period always starts on
the day of warranty expiration. Warranty Conditions apply as defined in the Terms
& Conditions.
Note
This description above is not applicable for option Stock warranty [438-8]
Description
Type
Option
Standard warranty is 12 months from Customer Delivery
Date or latest 18 months after Factory Shipment Date ,
whichever occurs first. Warranty terms and conditions
apply.
Standard warranty
438-1
Standard warranty extended with 12 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 12
months
438-2
Standard warranty extended with 18 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 18
months
438-4
Standard warranty extended with 24 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 24
months
438-5
Standard warranty extended with 6 months from end
date of the standard warranty. Warranty terms and con-
ditions apply.
Standard warranty + 6
months
438-6
Standard warranty extended with 30 months from end
date of the standard warranty. Warranty terms and con-
ditions apply.
Standard warranty + 30
months
438-7
Continues on next page
Product specification - IRB 140
43
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Continued
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| 43 |
2.2 Manipulator
Variants
Robots
Variant
Option
IRB 140-6/0.8
Standard performance
variant
435-87
IRB 140T-6/0.8
High speed variant
435-88
Manipulator color
Note
Description
Option
ABB Orange standard
209-1
ABB White standard
209-2
Standard color
ABB Graphite White standard
209-202
The manipulator is painted with the chosen RAL-
color
209-4--192
Note
Notice that delivery time for painted spare parts will increase for none standard
colors.
Protection types
Note
Protection type
Option
IP 67
Standard
287-4
See Protection type Foundry Plus 2 on page 9 for a com-
plete description of protection type Foundry Plus 2.
Foundry Plus 2
287-3
Robot with protection type Clean Room fulfil class 6 accord-
ing to ISO 14644-1.
Clean Room
287-1
See Protection type Clean Room on page10 for a complete
description of protection type Clean Room.
The robot is labeled with "Clean Room".
Robot with the same protection as in option 287-3 Foundry
Plus 2.
SteamWash
287-5
Connector kit
Description
Option
Detached connectors, suitable to the connectors on the upper arm.
431-1
The kit consists of connectors, pins and sockets.
Continues on next page
42
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Safety lamp
Description
Option
Safety lamp
213-1
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
The safety lamp is required on a UL/UR approved robot.
Warranty
For the selected period of time, ABB will provide spare parts and labour to repair
or replace the non-conforming portion of the equipment without additional charges.
During that period, it is required to have a yearly Preventative Maintenance
according to ABB manuals to be performed by ABB. If due to customer restrains
no data can be analyzed in the ABB Ability service Condition Monitoring &
Diagnostics for robots with OmniCore controllers, and ABB has to travel to site,
travel expenses are not covered. The Extended Warranty period always starts on
the day of warranty expiration. Warranty Conditions apply as defined in the Terms
& Conditions.
Note
This description above is not applicable for option Stock warranty [438-8]
Description
Type
Option
Standard warranty is 12 months from Customer Delivery
Date or latest 18 months after Factory Shipment Date ,
whichever occurs first. Warranty terms and conditions
apply.
Standard warranty
438-1
Standard warranty extended with 12 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 12
months
438-2
Standard warranty extended with 18 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 18
months
438-4
Standard warranty extended with 24 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 24
months
438-5
Standard warranty extended with 6 months from end
date of the standard warranty. Warranty terms and con-
ditions apply.
Standard warranty + 6
months
438-6
Standard warranty extended with 30 months from end
date of the standard warranty. Warranty terms and con-
ditions apply.
Standard warranty + 30
months
438-7
Continues on next page
Product specification - IRB 140
43
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Continued
Description
Type
Option
Maximum 6 months postponed start of standard war-
ranty, starting from factory shipment date. Note that no
claims will be accepted for warranties that occurred be-
fore the end of stock warranty. Standard warranty com-
mences automatically after 6 months from Factory
Shipment Date or from activation date of standard war-
ranty in WebConfig.
Note
Special conditions are applicable, see Robotics Warranty
Directives .
Stock warranty
438-8
44
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Continued
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| 44 |
Safety lamp
Description
Option
Safety lamp
213-1
A safety lamp with an orange fixed light can be mounted on the manipulator.
The lamp is active in MOTORS ON mode.
The safety lamp is required on a UL/UR approved robot.
Warranty
For the selected period of time, ABB will provide spare parts and labour to repair
or replace the non-conforming portion of the equipment without additional charges.
During that period, it is required to have a yearly Preventative Maintenance
according to ABB manuals to be performed by ABB. If due to customer restrains
no data can be analyzed in the ABB Ability service Condition Monitoring &
Diagnostics for robots with OmniCore controllers, and ABB has to travel to site,
travel expenses are not covered. The Extended Warranty period always starts on
the day of warranty expiration. Warranty Conditions apply as defined in the Terms
& Conditions.
Note
This description above is not applicable for option Stock warranty [438-8]
Description
Type
Option
Standard warranty is 12 months from Customer Delivery
Date or latest 18 months after Factory Shipment Date ,
whichever occurs first. Warranty terms and conditions
apply.
Standard warranty
438-1
Standard warranty extended with 12 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 12
months
438-2
Standard warranty extended with 18 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 18
months
438-4
Standard warranty extended with 24 months from end
date of the standard warranty. Warranty terms and con-
ditions apply. Contact Customer Service in case of other
requirements.
Standard warranty + 24
months
438-5
Standard warranty extended with 6 months from end
date of the standard warranty. Warranty terms and con-
ditions apply.
Standard warranty + 6
months
438-6
Standard warranty extended with 30 months from end
date of the standard warranty. Warranty terms and con-
ditions apply.
Standard warranty + 30
months
438-7
Continues on next page
Product specification - IRB 140
43
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Continued
Description
Type
Option
Maximum 6 months postponed start of standard war-
ranty, starting from factory shipment date. Note that no
claims will be accepted for warranties that occurred be-
fore the end of stock warranty. Standard warranty com-
mences automatically after 6 months from Factory
Shipment Date or from activation date of standard war-
ranty in WebConfig.
Note
Special conditions are applicable, see Robotics Warranty
Directives .
Stock warranty
438-8
44
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Continued
2.3 Floor cables
Manipulator cable length
Lengths
Option
3 m
210-1
7 m
210-2
15 m
210-3
22 m
210-4
30 m
210-5
Product specification - IRB 140
45
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© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.3 Floor cables
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| 45 |
Description
Type
Option
Maximum 6 months postponed start of standard war-
ranty, starting from factory shipment date. Note that no
claims will be accepted for warranties that occurred be-
fore the end of stock warranty. Standard warranty com-
mences automatically after 6 months from Factory
Shipment Date or from activation date of standard war-
ranty in WebConfig.
Note
Special conditions are applicable, see Robotics Warranty
Directives .
Stock warranty
438-8
44
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.2 Manipulator
Continued
2.3 Floor cables
Manipulator cable length
Lengths
Option
3 m
210-1
7 m
210-2
15 m
210-3
22 m
210-4
30 m
210-5
Product specification - IRB 140
45
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.3 Floor cables
2.4 Process
Process module
Description
Type
Option
Product specification - Controller IRC5
Empty cabinet small
768-1
Product specification - Controller IRC5
Empty cabinet large
768-2
Product specification - Controller IRC5
Installation kit
715-1
46
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.4 Process
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| 46 |
2.3 Floor cables
Manipulator cable length
Lengths
Option
3 m
210-1
7 m
210-2
15 m
210-3
22 m
210-4
30 m
210-5
Product specification - IRB 140
45
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.3 Floor cables
2.4 Process
Process module
Description
Type
Option
Product specification - Controller IRC5
Empty cabinet small
768-1
Product specification - Controller IRC5
Empty cabinet large
768-2
Product specification - Controller IRC5
Installation kit
715-1
46
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.4 Process
2.5 User documentation
User documentation
The user documentation describes the robot in detail, including service and safety
instructions.
All documents can be found via myABB Business Portal, www.myportal.abb.com .
Product specification - IRB 140
47
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2 Specification of variants and options
2.5 User documentation
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| 47 |
2.4 Process
Process module
Description
Type
Option
Product specification - Controller IRC5
Empty cabinet small
768-1
Product specification - Controller IRC5
Empty cabinet large
768-2
Product specification - Controller IRC5
Installation kit
715-1
46
Product specification - IRB 140
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.4 Process
2.5 User documentation
User documentation
The user documentation describes the robot in detail, including service and safety
instructions.
All documents can be found via myABB Business Portal, www.myportal.abb.com .
Product specification - IRB 140
47
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.5 User documentation
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| 48 |
2.5 User documentation
User documentation
The user documentation describes the robot in detail, including service and safety
instructions.
All documents can be found via myABB Business Portal, www.myportal.abb.com .
Product specification - IRB 140
47
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
2 Specification of variants and options
2.5 User documentation
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3 Accessories
3.1 Introduction to accessories
General
There is a range of tools and equipment available.
Basic software and software options for robot and PC
For more information, see Product specification - Controller IRC5 and Application
manual - Controller software IRC5 .
Robot peripherals
•
Motor Units 1
1
Not applicable for IRC5 Compact controller.
Product specification - IRB 140
49
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3 Accessories
3.1 Introduction to accessories
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3 Accessories
3.1 Introduction to accessories
General
There is a range of tools and equipment available.
Basic software and software options for robot and PC
For more information, see Product specification - Controller IRC5 and Application
manual - Controller software IRC5 .
Robot peripherals
•
Motor Units 1
1
Not applicable for IRC5 Compact controller.
Product specification - IRB 140
49
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
3 Accessories
3.1 Introduction to accessories
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| 50 |
3 Accessories
3.1 Introduction to accessories
General
There is a range of tools and equipment available.
Basic software and software options for robot and PC
For more information, see Product specification - Controller IRC5 and Application
manual - Controller software IRC5 .
Robot peripherals
•
Motor Units 1
1
Not applicable for IRC5 Compact controller.
Product specification - IRB 140
49
3HAC041346-001 Revision: Q
© Copyright 2004-2020 ABB. All rights reserved.
3 Accessories
3.1 Introduction to accessories
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Index
A
Absolute Accuracy, 31
Absolute Accuracy, calibration, 29
accessories, 49
C
calibration
Absolute Accuracy type, 28
standard type, 28
calibration, Absolute Accuracy, 29
Calibration Pendulum, 30
CalibWare, 28
category 0 stop, 39
category 1 stop, 39
compensation parameters, 31
D
documentation, 47
F
fine calibration, 30
I
instructions, 47
M
manuals, 47
O
options, 41
P
product standards, 14
S
safety standards, 14
service instructions, 47
standards, 14
ANSI, 15
CAN, 15
EN, 15
EN IEC, 14
EN ISO, 14
standard warranty, 43
stock warranty, 43
stopping distances, 39
stopping times, 39
U
user documentation, 47
V
variants, 41
W
warranty, 43
Product specification - IRB 140
51
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© Copyright 2004-2020 ABB. All rights reserved.
Index
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ABB_IRB140_Product_Specifications.pdf
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| 51 |
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Index
A
Absolute Accuracy, 31
Absolute Accuracy, calibration, 29
accessories, 49
C
calibration
Absolute Accuracy type, 28
standard type, 28
calibration, Absolute Accuracy, 29
Calibration Pendulum, 30
CalibWare, 28
category 0 stop, 39
category 1 stop, 39
compensation parameters, 31
D
documentation, 47
F
fine calibration, 30
I
instructions, 47
M
manuals, 47
O
options, 41
P
product standards, 14
S
safety standards, 14
service instructions, 47
standards, 14
ANSI, 15
CAN, 15
EN, 15
EN IEC, 14
EN ISO, 14
standard warranty, 43
stock warranty, 43
stopping distances, 39
stopping times, 39
U
user documentation, 47
V
variants, 41
W
warranty, 43
Product specification - IRB 140
51
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© Copyright 2004-2020 ABB. All rights reserved.
Index
|
ABB_IRB140_Product_Specifications.pdf
|
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| 52 |
Index
A
Absolute Accuracy, 31
Absolute Accuracy, calibration, 29
accessories, 49
C
calibration
Absolute Accuracy type, 28
standard type, 28
calibration, Absolute Accuracy, 29
Calibration Pendulum, 30
CalibWare, 28
category 0 stop, 39
category 1 stop, 39
compensation parameters, 31
D
documentation, 47
F
fine calibration, 30
I
instructions, 47
M
manuals, 47
O
options, 41
P
product standards, 14
S
safety standards, 14
service instructions, 47
standards, 14
ANSI, 15
CAN, 15
EN, 15
EN IEC, 14
EN ISO, 14
standard warranty, 43
stock warranty, 43
stopping distances, 39
stopping times, 39
U
user documentation, 47
V
variants, 41
W
warranty, 43
Product specification - IRB 140
51
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© Copyright 2004-2020 ABB. All rights reserved.
Index
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ABB_IRB140_Product_Specifications.pdf
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| 53 |
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC041346-001, Rev Q, en
© Copyright 2004-2020 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_IRB140_Product_Specifications.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch
| 54 |
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC041346-001, Rev Q, en
© Copyright 2004-2020 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_IRB8700_Product_Manual.pdf
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| 1 |
Product manual
IRB 8700
![Image]
Trace back information:
Workspace R17-1 version a7
Checked in 2017-03-22
Skribenta version 5.1.011
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ABB_IRB8700_Product_Manual.pdf
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https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 2 |
Product manual
IRB 8700
![Image]
Trace back information:
Workspace R17-1 version a7
Checked in 2017-03-22
Skribenta version 5.1.011
Product manual
IRB 8700 - 550/4.20
IRB 8700 - 800/3.50
IRC5
Document ID: 3HAC052853-001
Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
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ABB_IRB8700_Product_Manual.pdf
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Trace back information:
Workspace R17-1 version a7
Checked in 2017-03-22
Skribenta version 5.1.011
Product manual
IRB 8700 - 550/4.20
IRB 8700 - 800/3.50
IRC5
Document ID: 3HAC052853-001
Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
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, 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 2015-2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 4 |
Product manual
IRB 8700 - 550/4.20
IRB 8700 - 800/3.50
IRC5
Document ID: 3HAC052853-001
Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
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, 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 2015-2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
Table of contents
9
Overview of this manual ...................................................................................................................
12
Product documentation, IRC5 ..........................................................................................................
14
How to read the product manual ......................................................................................................
15
1
Safety
15
1.1
Introduction to safety information .........................................................................
16
1.2
General safety information ..................................................................................
16
1.2.1
Introduction to general safety information ....................................................
17
1.2.2
Safety in the manipulator system ...............................................................
19
1.2.3
Protective stop and emergency stop ...........................................................
20
1.2.4
Safety risks ............................................................................................
20
1.2.4.1
Safety risks during installation and service work on robots ..................
23
1.2.4.2
CAUTION - Hot parts may cause burns! ...........................................
24
1.2.4.3
Safety risks related to tools/work pieces ..........................................
25
1.2.4.4
Safety risks related to pneumatic/hydraulic systems ..........................
26
1.2.4.5
Safety risks during operational disturbances .....................................
27
1.2.4.6
Risks associated with live electric parts ...........................................
29
1.2.5
Safety actions .........................................................................................
29
1.2.5.1
Safety fence dimensions ...............................................................
30
1.2.5.2
Fire extinguishing ........................................................................
31
1.2.5.3
Emergency release of the robot arm ...............................................
32
1.2.5.4
Brake testing ..............................................................................
33
1.2.5.5
Risk of disabling function "Reduced speed 250 mm/s" ........................
34
1.2.5.6
Safe use of the jogging device .......................................................
35
1.2.5.7
Work inside the working range of the robot .......................................
36
1.2.5.8
Signal lamp (optional) ...................................................................
37
1.3
Safety signals and symbols .................................................................................
37
1.3.1
Safety signals in the manual ......................................................................
39
1.3.2
Safety symbols on product labels ...............................................................
45
1.4
Safety related instructions ..................................................................................
45
1.4.1
DANGER - Moving robots are potentially lethal! ............................................
46
1.4.2
DANGER - First test run may cause injury or damage! ...................................
47
1.4.3
WARNING - The brake release buttons may be jammed after service work ........
48
1.4.4
DANGER - Make sure that the main power has been switched off! ....................
49
1.4.5
WARNING - The unit is sensitive to ESD! .....................................................
51
1.4.6
WARNING - Safety risks during handling of batteries .....................................
52
1.4.7
WARNING - Safety risks during work with gearbox lubricants (oil or grease) ......
55
2
Installation and commissioning
55
2.1
Introduction ......................................................................................................
56
2.2
Unpacking .......................................................................................................
56
2.2.1
Pre-installation procedure .........................................................................
60
2.2.2
Working range ........................................................................................
63
2.2.3
Risk of tipping/stability .............................................................................
64
2.2.4
Main dimensions .....................................................................................
65
2.3
On-site installation ............................................................................................
65
2.3.1
Lifting the robot with fork lift accessory set installed ......................................
73
2.3.2
Attaching the robot and removing the fork lift accessory set ............................
75
2.3.3
Lifting the base plate ................................................................................
77
2.3.4
Securing the base plate ............................................................................
81
2.3.5
Lifting the robot with roundslings ...............................................................
84
2.3.6
Returning of the ABB pallet .......................................................................
85
2.3.7
Manually releasing the brakes ...................................................................
88
2.3.8
Orienting and securing the robot ...............................................................
90
2.3.9
Loads fitted to the robot, stopping time and braking distances .........................
91
2.3.10 Fitting equipment ....................................................................................
Product manual - IRB 8700
5
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Table of contents
|
ABB_IRB8700_Product_Manual.pdf
|
https://search.abb.com/library/Download.aspx?DocumentID=3HAC052853-001&LanguageCode=en&DocumentPartId=&Action=Launch&DocumentRevisionId=D
| 5 |
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, 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 2015-2017 ABB. All rights reserved.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
Table of contents
9
Overview of this manual ...................................................................................................................
12
Product documentation, IRC5 ..........................................................................................................
14
How to read the product manual ......................................................................................................
15
1
Safety
15
1.1
Introduction to safety information .........................................................................
16
1.2
General safety information ..................................................................................
16
1.2.1
Introduction to general safety information ....................................................
17
1.2.2
Safety in the manipulator system ...............................................................
19
1.2.3
Protective stop and emergency stop ...........................................................
20
1.2.4
Safety risks ............................................................................................
20
1.2.4.1
Safety risks during installation and service work on robots ..................
23
1.2.4.2
CAUTION - Hot parts may cause burns! ...........................................
24
1.2.4.3
Safety risks related to tools/work pieces ..........................................
25
1.2.4.4
Safety risks related to pneumatic/hydraulic systems ..........................
26
1.2.4.5
Safety risks during operational disturbances .....................................
27
1.2.4.6
Risks associated with live electric parts ...........................................
29
1.2.5
Safety actions .........................................................................................
29
1.2.5.1
Safety fence dimensions ...............................................................
30
1.2.5.2
Fire extinguishing ........................................................................
31
1.2.5.3
Emergency release of the robot arm ...............................................
32
1.2.5.4
Brake testing ..............................................................................
33
1.2.5.5
Risk of disabling function "Reduced speed 250 mm/s" ........................
34
1.2.5.6
Safe use of the jogging device .......................................................
35
1.2.5.7
Work inside the working range of the robot .......................................
36
1.2.5.8
Signal lamp (optional) ...................................................................
37
1.3
Safety signals and symbols .................................................................................
37
1.3.1
Safety signals in the manual ......................................................................
39
1.3.2
Safety symbols on product labels ...............................................................
45
1.4
Safety related instructions ..................................................................................
45
1.4.1
DANGER - Moving robots are potentially lethal! ............................................
46
1.4.2
DANGER - First test run may cause injury or damage! ...................................
47
1.4.3
WARNING - The brake release buttons may be jammed after service work ........
48
1.4.4
DANGER - Make sure that the main power has been switched off! ....................
49
1.4.5
WARNING - The unit is sensitive to ESD! .....................................................
51
1.4.6
WARNING - Safety risks during handling of batteries .....................................
52
1.4.7
WARNING - Safety risks during work with gearbox lubricants (oil or grease) ......
55
2
Installation and commissioning
55
2.1
Introduction ......................................................................................................
56
2.2
Unpacking .......................................................................................................
56
2.2.1
Pre-installation procedure .........................................................................
60
2.2.2
Working range ........................................................................................
63
2.2.3
Risk of tipping/stability .............................................................................
64
2.2.4
Main dimensions .....................................................................................
65
2.3
On-site installation ............................................................................................
65
2.3.1
Lifting the robot with fork lift accessory set installed ......................................
73
2.3.2
Attaching the robot and removing the fork lift accessory set ............................
75
2.3.3
Lifting the base plate ................................................................................
77
2.3.4
Securing the base plate ............................................................................
81
2.3.5
Lifting the robot with roundslings ...............................................................
84
2.3.6
Returning of the ABB pallet .......................................................................
85
2.3.7
Manually releasing the brakes ...................................................................
88
2.3.8
Orienting and securing the robot ...............................................................
90
2.3.9
Loads fitted to the robot, stopping time and braking distances .........................
91
2.3.10 Fitting equipment ....................................................................................
Product manual - IRB 8700
5
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
Table of contents
98
2.4
Restricting the working range ..............................................................................
98
2.4.1
Axes with restricted working range .............................................................
99
2.4.2
Mechanically restricting the working range of axis 1 ......................................
102
2.5
Electrical connections ........................................................................................
102
2.5.1
Robot cabling and connection points ..........................................................
104
2.6
Installation of options .........................................................................................
104
2.6.1
Installing the signal lamp (option) ...............................................................
105
3
Maintenance
105
3.1
Introduction ......................................................................................................
106
3.2
Maintenance schedule and expected component life ...............................................
106
3.2.1
Specification of maintenance intervals ........................................................
107
3.2.2
Maintenance schedule .............................................................................
109
3.2.3
Expected component life .........................................................................
110
3.3
Inspection activities ...........................................................................................
110
3.3.1
Inspecting the oil level in axis-1 gearbox ......................................................
113
3.3.2
Inspecting the oil level in axis-2 and 3 gearboxes ..........................................
116
3.3.3
Inspecting the oil level in axis-4 primary gearbox ..........................................
119
3.3.4
Inspecting the oil level in axis-4 secondary gearbox .......................................
121
3.3.5
Inspecting the oil level in axis-5 gearbox ......................................................
124
3.3.6
Inspecting the oil level in axis-6 gearbox ......................................................
126
3.3.7
Inspecting the transparent plugs ................................................................
128
3.3.8
Inspecting the balancing devices ...............................................................
131
3.3.9
Inspecting the cable harness .....................................................................
133
3.3.10 Inspecting the information labels ................................................................
137
3.3.11 Inspecting the axis-1 mechanical stop pin ...................................................
139
3.3.12 Inspecting the additional mechanical stops .................................................
141
3.3.13 Inspecting the fork lift accessories ..............................................................
143
3.3.14 Inspecting the signal lamp (option) .............................................................
144
3.3.15 Inspecting dampers .................................................................................
145
3.4
Replacement/changing activities ..........................................................................
145
3.4.1
Type of lubrication in gearboxes ................................................................
146
3.4.2
Changing oil, axis-1 gearbox .....................................................................
152
3.4.3
Changing oil in axis-2 and axis-3 gearbox ....................................................
158
3.4.4
Changing oil, axis-4 primary gearbox ..........................................................
164
3.4.5
Changing oil, axis-4 secondary gearbox ......................................................
169
3.4.6
Changing oil, axis-5 gearbox .....................................................................
173
3.4.7
Changing oil, axis-6 gearbox .....................................................................
178
3.4.8
Replacing the SMB battery ........................................................................
181
3.5
Lubrication activities ..........................................................................................
181
3.5.1
Lubricating the spherical roller bearings, balancing device ..............................
183
3.5.2
Lubricating the cross roller bearing .............................................................
185
3.6
Cleaning activities .............................................................................................
185
3.6.1
Cleaning the IRB 8700 ..............................................................................
189
4
Repair
189
4.1
Introduction ......................................................................................................
190
4.2
General procedures ...........................................................................................
190
4.2.1
Performing a leak-down test ......................................................................
191
4.2.2
Mounting instructions for bearings .............................................................
193
4.2.3
Mounting instructions for seals ..................................................................
195
4.3
Attaching lifting accessories ................................................................................
195
4.3.1
Attaching lifting accessories to complete arm system ....................................
196
4.3.2
Attaching lifting accessories to the upper arm ...............................................
200
4.3.3
Attaching lifting accessories to the wrist ......................................................
203
4.4
Cable harness ..................................................................................................
203
4.4.1
Removing the cable harness .....................................................................
219
4.4.2
Refitting the cable harness ........................................................................
240
4.4.3
Replacing the SMB ..................................................................................
6
Product manual - IRB 8700
3HAC052853-001 Revision: D
© Copyright 2015-2017 ABB. All rights reserved.
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