IRB 140 Product Specifications Rev.2

8/11/2019 IRB 140 Product Specifications Rev.2

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Product SpecificationIRB 140

3HAC 9041-1 / Rev 2M2000


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The information in this document is subject to change without notice and should not be construed as acommitment by ABB Robotics AB. ABB Robotics AB assumes no responsibility for any errors that mayappear in this document.

In no event shall ABB Robotics AB be liable for incidental or consequential damages arising from useof this document or of the software and hardware described in this document.

This document and parts thereof must not be reproduced or copied withoutABB Robotics ABs written permission, and contents thereof must not be imparted to a third party norbe used for any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this document may be obtained from ABB Robotics AB at its then current charge.

ABB Robotics AB

Article number: 3HAC 9041-1/Rev 2Issue: M2000

ABB Robotics ABS-721 68 Vsters

Sweden


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Product Specification IRB 140

CONTENTSPage

Product Specification IRB 140 M2000 1

1 Description ....................................................................................................................... 3

1.1 Structure.................................................................................................................. 3

1.2 Safety/Standards..................................................................................................... 6

1.3 Installation .............................................................................................................. 8

Operating requirements.......................................................................................... 8

Mounting the manipulator...................................................................................... 8

Load diagram ......................................................................................................... 10

Mounting of equipment.......................................................................................... 12

1.4 Maintenance and Troubleshooting ......................................................................... 13

1.5 Robot Motion.......................................................................................................... 14

Performance according to ISO 9283...................................................................... 15

Velocity .................................................................................................................. 15

Resolution .............................................................................................................. 15

1.6 Signals .................................................................................................................... 15

Signal connections on robot arm............................................................................ 15

2 Specification of Variants and Options........................................................................... 17

3 Accessories ....................................................................................................................... 19

4 Index................................................................................................................................. 21


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Product Specification IRB 140

2 Product Specification IRB 140 M2000


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Description


1 Description

1.1 Structure

IRB 140 is a 6-axis industrial robot, designed specifically for manufacturing industriesthat use flexible robot-based automation. The robot has an open structure that isspecially adapted for flexible use, and can communicate extensively with externalsystems.

The robots with Foundry protection are designed for harsh environment and havespecial surface treatment and paint for excellent corrosion protection. The connectorsare designed for severe environment, and bearings, gears and other sensitive parts arehigh protected. The robots have the FoundryPlus protection which means that the

whole manipulator is IP67 classified and steam washable.

The Clean Room robots are classified for clean room class 10. They have the samedegree of tightness and corrosion protection as the Foundry robots and are also steamwashable.

The robot is equipped with the operating system BaseWare OS. BaseWare OS controlsevery aspect of the robot, like motion control, development and execution ofapplication programs communication etc. See Product Specification S4Cplus.

For additional functionality, the robot can be equipped with optional software forapplication support - for example gluing and arc welding, communication features -network communication - and advanced functions such as multitasking, sensor controletc. For a complete description on optional software, see the Product SpecificationRobotWare Options.

Figure 1 The IRB 140 manipulator has 6 axes.

Axis 2

Axis 1

Axis 3

Axis 4

Axis 5

Axis 6


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Description


The IRB 140 is available in a number of different variants. They can all be mounted onfloor, inverted or on wall in any angle. The high speed variant, IRB 140T, providesfurther reduced cycle time:

Environment adaption Standard performance High speedvariants variants

IRB 140 IRB 140TFor foundry environment IRB 140F IRB 140TFFor clean room environment IRB 140CR IRB 140TCR

Weight: Manipulator 98 kg (excluding the cables to thecontroller)

Airborne noise level:The sound pressure level outside < 70 dB (A) Leq (acc. to

the working space Machinery directive 89/392 EEC)


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Description


Figure 2 View of the manipulator from the back, side and above (dimensions in mm).

204 177

448

273

70

352

360

810

595

380 65

402 123

70

R244

Minimum turningradius

CL axis 1

CL


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Description


1.2 Safety/Standards

The robot conforms to the following standards:

EN 292-1 Safety of machinery, terminology

EN 292-2 Safety of machinery, technical specifications

EN 954-1 Safety of machinery, safety related parts of controlsystems

EN 60204 Electrical equipment of industrial machines

IEC 204-1 Electrical equipment of industrial machines

ISO 10218, EN 775 Manipulating industrial robots, safety

ANSI/RIA 15.06/1992 Industrial robots, safety requirements

ISO 9787 Manipulating industrial robots, coordinate systems

and motions

IEC 529 Degrees of protection provided by enclosures

EN 50081-2 EMC, Generic emission

EN 61000-6-2 EMC, Generic immunity

ISO 9409-1 Manipulating industrial robots, mechanical interface

ANSI/UL 1740-1996 (option) Standard for Industrial Robots and RoboticEquipment

CAN/CSA Z 434-94 (option) Industrial Robots and Robot Systems - GeneralSafety Requirements

US Federal Standard 209 Clean room classification

The robot complies fully with the health and safety standards specified in the EECsMachinery Directives.

The robot is designed with absolute safety in mind. It has a dedicated safety system basedon a two-channel circuit which is monitored continuously. If any component fails, theelectrical power supplied to the motors shuts off and the brakes engage.

Safety category 3Malfunction of a single component, such as a sticking relay, will be detected at the nextMOTOR OFF/MOTOR ON operation. MOTOR ON is then prevented and the faulty

section is indicated. This complies with category 3 of EN 954-1, Safety of machinery -safety related parts of control systems - Part 1.

Selecting the operating modeThe robot can be operated either manually or automatically. In manual mode, the robotcan only be operated via the teach pendant, i.e. not by any external equipment.

Reduced speedIn manual mode, the speed is limited to a maximum of 250 mm/s (600 inches/min.).A speed limitation applies not only to the TCP (Tool Centre Point), but to all parts of therobot. It is also possible to monitor the speed of equipment mounted on the robot.


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Description


Three position enabling deviceThe enabling device on the teach pendant must be used to move the robot when in man-ual mode. The enabling device consists of a switch with three positions, meaning thatall robot movements stop when either the enabling device is pushed fully in, or whenit is released completely. This makes the robot safer to operate.

Safe manual movementThe robot is moved using a joystick instead of the operator having to look at the teachpendant to find the right key.

Over-speed protectionThe speed of the robot is monitored by two independent computers.

Emergency stopThere is one emergency stop push button on the controller and another on the teachpendant. Additional emergency stop buttons can be connected to the robots safety

chain circuit.

Safeguarded space stopThe robot has a number of electrical inputs which can be used to connect externalsafety equipment, such as safety gates and light curtains. This allows the robots safetyfunctions to be activated both by peripheral equipment and by the robot itself.

Delayed safeguarded space stopA delayed stop gives a smooth stop. The robot stops in the same way as at normalprogram stop with no deviation from the programmed path. After approx. one secondthe power supplied to the motors shuts off.

Collision detection (option)In case an unexpected mechanical disturbance like a collision, electrode stik etcappears, the robot will stop and slightly back off from its stop position.

Restricting the working spaceThe movement of each of the axes can be restricted using software limits.

Hold-to-run controlHold-to-runmeans that you must depress the start button in order to move the robot.When the key is released the robot will stop. The hold-to-run function makes programtesting safer.

Fire safetyBoth the manipulator and control system comply with ULs (Underwriters Laboratory)tough requirements for fire safety.

Safety lamp (option)The robot can be equipped with a safety lamp mounted on the manipulator. This isactivated when the motors are in the MOTORS ON state.


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Description


Figure 3 Hole configuration (dimensions in mm).

25H8 (2x)

0,25 A

80

13

39

12

180

45

155

AC Axis 1

25H8 (2x)

13

391

180

A

B

A

B

B - B

A - A


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Description


Load diagram

The robot is optimized for the rated load according to the load diagram and ratedmoment of inertia. These have been used in the performance tests. The maximumallowed load and moment of inertia are received from the formulas on page 11.

Figure 4 Rated weight for tool mounted on the mounting flange at different positions (centres of gravity).

Load diagram "MIA"

(Rated Performance)

0,000

0,050

0,100

0,150

0,200

0,250

0,300

0,350

0,400

0,450

0 0,05 0,1 0,15 0,2 0,25 0,3 0,35

L (m)

Z(m)

1kg

5kg

4kg

3kg

2kg

100 150 200 250 300 35050

Z mm

L mm

100

150

200

250

300

350

50

400

450

65

Z = see the above diagram and the coordinate system in the Product Specification S4CplusL = distance in X-Y plane from Z-axis to the centre of gravity

J0= rated own moment of inertia on the total handle weight = 0.012kgm2


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Description


Mass kgLength (Z, L) mT NmJ kgm2

Mass 5 KgAxis 5

Maximum static load:

T5 = 9.81 Mass 8.5 Nm

T5i = 9.81 Mass (Z +0.065 + L/1.04) 11.4 Nm

Maximum dynamic load:

J5 = Mass ((Z+0.065)2+L2) + max (J0L) 0.35 kgm2

Axis 6Maximum static load:

T6 = 9.81 Mass L 4.9 Nm

Maximum dynamic load:J6 = Mass L2+ J0Z 0.24 kgm

2

Figure 5 Own moment of inertia.

(Z+0.065)2 +L2

Z

XCentre of gravity

J0L= Maximum own moment of inertiaaround the maximum vector in the X-Y-plane

J0Z = Maximum own moment of inertia around Z


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Description


Mounting of equipment

Figure 6 The shaded area indicates the permitted position of the centre of gravity for any extraequipment mounted (dimensions in mm).

Figure 7 The mechanical interface, mounting flange (dimensions in mm).

74

70

M5 Depth 7.5 (2x)for equipmentMounting holes

62

51

M5 Depth 7.5 (2x)for equipmentMounting holes

185

D=220

D=150

120

Note!Maximum 1 kg if 0,5 kg on the wrist

1,5 kg if 0 kg on the wrist

Note! Maximum 0.5 kg

0 kg if 1,5 kg onthe upper arm house

31 37

if 1.0 kg on the upper arm house

45o

D=6 H7

M6 (4x)

R=20

A

A

0.05 B

(4x)90o

6

D=25

9

A - A

D=50

h8

B

H8

+0.0

33

-0

+0

-0.0

39

+0.012-0


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Description


1.4 Maintenance and Troubleshooting

The robot requires only a minimum of maintenance during operation. It has beendesigned 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, itsmodular design makes it easy to change.

- It has a program memory battery lowalarm.

The following maintenance is required:

- Changing batteries every third year.

The maintenance intervals depends on the use of the robot. For detailed information on

maintenance procedures, see Maintenance section in the Product Manual.


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Description


1.5 Robot Motion

Type of motion Range of movement

Axis 1 Rotation motion +180o _ -180oAxis 2 Arm motion +110o _ -90oAxis 3 Arm motion +50o _ -230o

Axis 4 Wrist motion +200o _ -200oDefault+165 revolutions _ -165 revolutions Max**)

Axis 5 Bend motion +120o _ -120oAxis 6 Turn motion +400o _ -400oDefault

+163 revolutions _ -163 revolutions Max**)

**) Option. The default working range for axis 4 and axis 6 can be extendedby changing parameter values in the software

Figure 8 The extreme positions of the robot arm.

Pos 1

Pos 6

1243

151

1120

28

810670

184 324 486

70

Z

Pos 0

Pos 8

pos. x

Positions at wrist

z

7121092421

99596558352

45070

314765

1218

-670

X

Pos 7

Pos 2

Pos 3

pos. axis 2 axis 3

0-90+50-90+50

-230-90

Angle (degrees)

0123678

centre (mm)

000

110-90110-90

0123678


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Description


Performance according to ISO 9283

At rated load and 1 m/s velocity on the inclined ISO test plane with all six robot axesin motion.

Unidirectional pose repeatability:RP = 0.03 mm

Linear path accuracy:AT = 1.0 mm

Linear path repeatability:RT = 0.15 mm

Minimum positioning time, to within 0.5 mm of the position:0.2 sec. (on 35 mm linear path)

The above values are the range of average test-results from a number of robots. Ifguaranteed values are required, please contact your nearest ABB Flexible Automation

Centre.

Velocity

Axis no. IRB 140 IRB 140T

1 200o/s 250o/s2 200o/s 250o/s3 260o/s 260o/s4 360o/s 360o/s5 360o/s 360o/s

6 450o/s 450o/s

There is a supervision to prevent overheating in applications with intensive andfrequent movements.

Resolution

Approx. 0.01o on each axis.

1.6 Signals

Signal connections on robot arm

For connection of extra equipment on the manipulator, there are cables integrated intothe manipulators 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.

Signals 12 49V, 500 mAAir 1 Max. 8 bar, inner hose diameter 6.5 mm


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Description



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Specification of Variants and Options


2 Specification of Variants and Options

The different variants and options for the IRB 140 are described below.

The same numbers are used here as in the Specification form.For controller options, see Product Specification S4Cplus, and for software options, seeProduct Specification RobotWare Options.

1 MANIPULATOR

VARIANTS

021 Standard performance variants:IRB 140 / IRB 140F / IRB 140CR022 High speed variants: IRB 140T / IRB 140TF / IRB 140TCR

Manipulator colour

330 ABB orange

354 The manipulator is painted with ABB white cleanroom (RAL 9003)

352 The manipulator is painted with the chosen RAL-colour

Protection

035 Standard manipulator

036 FoundryRobot adapted for foundry or other harsh environments.The robot has the FoundryPlus protection which means that the whole manipulator isIP67 classified and steam washable. An excellent corrosion protection is obtained by aspecial coating. The connectors are designed for severe environments, and bearings, gearsand other sensitive parts are high protected.Only available colour is ABB orange Foundry.

037 Clean RoomRobot with clean room class 10 and with the same protection as in option 036.Only available colour is white.

CONNECTOR KIT

045 Detached connectors, suitable to the connectors on the upper arm.The kit consists of connectors, pins and sockets.

EQUIPMENT

691 Safety lampA 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.


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Specification of Variants and Options



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Accessories


3 Accessories

Basic software and software options for robot and PC

For more information, see Product Specification S4Cplus, and Product SpecificationRobotWare Options.

Robot Peripherals

- Motor Units


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Accessories



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Index


4 Index

A

accessories 19

C

clean room standards 8

connector kit 17

cooling device 4

E

emergency stop 7enabling device 7

equipment

mounting 12

permitted extra load 12

F

fire safety 7

H

hold-to-run control 7hole configuration 9

humidity 8

I

installation 8

L

load 8

load diagrams 10

M

maintenance 13

manipulator colour

foundry

clean room17

manipulator colours 17

mechanical interface 12

motion 14

mounting

extra equipment 12

robot 8

mounting flange 12

N

noise level 4

O

operating requirements 8

options 17

overspeed protection 7

P

payload 8

protection

foundry

clean room17

protection standards 8

R

range of movement

working space 14

reduced speed 6

repeatability 15

resolution 15

Robot Peripherals 19

robot versions 4, 17

S

safeguarded space stop 7

delayed 7

safety 6

safety lamp 7, 17

service 13space requirements 4

standards 6

structure 3

T

temperature 8

troubleshooting 13

U

UL approved 6


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Index

V

variants 4, 17

velocity 15

W

weight 4

working space

restricting 7

IRB 140 Product Specifications Rev.2

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