IRC5-IRB140 Prod Man 3HAC023297-001 References Rev- En

Product manual (part 2 of 2), reference informationArticulated robotIRB 140

M2000, M2000A, M2004

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Product manual (part 2 of 2), reference information

IRB 140M2000

M2000A

M2004

Document ID: 3HAC 023297-001

Revision: -

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, and contents thereof must not be imparted to a third party nor be used for any unauthorized purpose. Contravention will be prosecuted.

Additional copies of this manual may be obtained from ABB at its then current charge.

© Copyright 2004 ABB All right reserved.

ABB Automation Technologies ABRobotics

SE-721 68 Västerås Sweden

Table of Contents

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Product documentation, M2000/M2000A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Product documentation, M2004 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1 Reference information 11

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.2 Applicable Safety Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.3 Unit conversion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.4 Screw joints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141.5 Weight specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171.6 Document references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181.7 Standard toolkit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201.8 Performing a leak-down test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211.9 Lifting equipment and lifting instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221.10 Mounting instructions for bearings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231.11 Mounting instructions for seals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2 Spare part / part list 27

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272.2 Spare part / part list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

3 Foldouts 33

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4 Circuit diagram 35

4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

33HAC 023297-001 Revision: -

Table of Contents

3HAC 023297-001 Revision: -4

Overview

Overview

About this manual

This manual contains reference information for all procedures in part 1: Product manual,

procedures.

Usage

This manual should be used during:

• installation

• maintenance work

• repair work.

Who should read this manual?

This manual is intended for:

• installation personnel

• maintenance personnel

• repair personnel.

Prerequisites

The reader should...

• be a trained maintenance/repair craftsman

• have the required knowledge of mechanical and electrical installation/repair/

maintenance work.

Organization of chapters

The manual is organized in the following chapters:

Chapter Contents

Reference information Useful information when performing installation, maintenance or repair works. Includes lists of necessary tools, additional documents, safety standards, etc.

Spare part / Part list Complete spare part lists and complete lists of robot components, shown in the foldouts.

Foldouts Detailed illustrations of the robot with reference numbers to the part list.

Circuit diagram Circuit diagram for the robot.

53HAC 023297-001 Revision: -

Overview

Revisions

Revision Description

- First edition

Replaces previous manuals:

• Installation and commissioning manual

• Maintenance manual

• Repair manual, part 1

• Repair manual, part 2

Changes made in the material from the previous manuals:

• Model M2004 implemented.

• Section Document references added to the chapter Reference information.

• Information about the controller removed from the manual.

• Additional spare part numbers for the motors.

3HAC 023297-001 Revision: -6

Product documentation, M2000/M2000A

Product documentation, M2000/M2000A

General

The complete product documentation kit for the M2000 robot system, including controller,

robot and any hardware option, consists of the manuals listed below:

Hardware manuals

All hardware, robots and controller cabinets, will be delivered with a Product manual which

is divided into two parts:

Product manual, procedures

• Safety information

• Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

• Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

• Repair (descriptions of all recommended repair procedures including spare parts)

• Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

• Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards)

• Part list

• Foldouts or exploded views

• Circuit diagrams

Software manuals

The software documentation consists of a wide range of manuals, ranging from manuals for

basic understanding of the operating system to manuals for entering parameters during

operation.

A complete listing of all available software manuals is available from ABB.

Controller hardware option manual

Each hardware option for the controller is supplied with its own documentation. Each

document set contains the types of information specified below:

• Installation information

• Repair information

• Maintenance information

In addition, spare part information is supplied for the entire option.

73HAC 023297-001 Revision: -

Product documentation, M2004


General

The robot documentation may be divided into a number of categories. This listing is based on

the type of information contained within the documents, regardless of whether the products

are standard or optional. This means that any given delivery of robot products will not contain

all documents listed, only the ones pertaining to the equipment delivered.

However, all documents listed may be ordered from ABB. The documents listed are valid for

M2004 robot systems.

Hardware manuals

All hardware, robots and controller cabinets, will be delivered with a Product manual which

is divided into two parts:

Product manual, procedures

• Safety information

• Installation and commissioning (descriptions of mechanical installation, electrical

connections and loading system software)

• Maintenance (descriptions of all required preventive maintenance procedures

including intervals)

• Repair (descriptions of all recommended repair procedures including spare parts)

• Additional procedures, if any (calibration, decommissioning)

Product manual, reference information

• Reference information (article numbers for documentation referred to in Product

manual, procedures, lists of tools, safety standards)

• Part list

• Foldouts or exploded views

• Circuit diagrams

RobotWare manuals

The following manuals describe the robot software in general and contain relevant reference

information:

• RAPID Overview: An overview of the RAPID programming language.

• RAPID reference manual part 1: Description of all RAPID instructions.

• RAPID reference manual part 2: Description of all RAPID functions and data types.

• Technical reference manual - System parameters: Description of system

parameters and configuration workflows.

Application manuals

Specific applications (e.g. software or hardware options) are described in Application manuals. An application manual can describe one or several applications.

An application manual generally contains information about:

• The purpose of the application (what it does and when it is useful)

• What is included (e.g. cables, I/O boards, RAPID instructions, system parameters)

3HAC 023297-001 Revision: -8


• How to use the application

• Examples of how to use the application

Operator’s manuals

This group of manuals is aimed at those having first hand operational contact with the robot,

i.e. production cell operators, programmers and trouble shooters. The group of manuals

include:

• Operator’s manual - IRC5 with FlexPendant

• Operator’s manual - RobotStudioOnline

• Trouble shooting Manual for the controller and robot

Miscellaneous

A number of manuals provide generic descriptions of the robot and robot system. These

include:

• Robot fundamentals (describing the fundamental aspects, functions, concept and

similar, of a robot system to provide a basic understanding of the robot system)

93HAC 023297-001 Revision: -


3HAC 023297-001 Revision: -10

1 Reference information

1.1. Introduction


1.1. Introduction

General

This chapter includes general information, complementing the more specific information in

the Product manual (part 1 of 2), procedures.

113HAC 023297-001 Revision: -


1.2. Applicable Safety Standards

1.2. Applicable Safety Standards

Standards, general

The robot is designed in accordance with the requirements of:

• ISO10218, Jan. 1992, Industrial Robot Safety

• ANSI/RIA 15.06-1999

• ISO/DIS 11161, Industrial automation systems - safety of integrated manufacturing

systems - Basic requirements

• DIN 19258 - Interbus-S, International Standard

Standards, safety fence

The following standards are applicable to the safety fence surrounding the robot cell:

• ISO/DIS 11161, Industrial automation systems -safety of integrated manufacturing

systems - Basic requirements

• prEN 999:1995

Standards, robot cell

The following standards are applicable when the robot is part of a robot cell:

• IEN 294, Safety of machinery - Safety distance to prevent danger zones being reached

by the upper limbs.

• EN 349, Safety of machinery - Minimum gaps to avoid crushing of parts of the human

body.

• EN 811 Safety of machinery - Safety distance to prevent danger zones being reached

by the lower limbs.

• Pr EN 999 Safety of machinery - The positioning of protective equipment in respect

of approach speeds of the human body.

• EN 1088 Safety of machinery - Interlocking device associated with guards principles

for design and selection.

3HAC 023297-001 Revision: -12


1.3. Unit conversion

1.3. Unit conversion

Converter table

Use the table below to convert units used in this manual.

Quantity Units

Length 1 m 3.28 ft 39.37 in

Weight 1 kg 2.21 lb

Pressure 1 bar 100 kPa 14.5 psi

Force 1 N 0.738 lbf

Moment 1 Nm 0.738 lbf-tn

Volume 1 L 0.264 US gal

133HAC 023297-001 Revision: -


1.4. Screw joints

1.4. Screw joints

General

This section details how to tighten the various types of screw joints on the robot and the

controller.

The instructions and torque values are valid for screw joints comprised of metallic materials

and do not apply to soft or brittle materials.

UNBRAKO screws

UNBRAKO is a special type of screw recommended by ABB for certain screw joints. It

features special surface treatment (Gleitmo as described below), and is extremely resistant to

fatigue.

Whenever used, this is specified in the instructions, and in such cases, no other type of

replacement screw is allowed! Using other types of screws will void any warranty and may

potentially cause serious damage or injury!

Gleitmo treated screws

Gleitmo is a special surface treatment to reduce the friction when tightening the screw joint.

Screws treated with Gleitmo may be reused 3-4 times before the coating disappears. After

this the screw must be discarded and replaced with a new one.

When handling screws treated with Gleitmo, protective gloves of nitrile rubber type should

be used.

Screws lubricated in other ways

Screws lubricated with Molycote 1000 should only be used when specified in the repair,

maintenance or installation procedure descriptions.

In such cases, proceed as follows:

1. Apply lubricant to the screw thread.

2. Apply lubricant between the plain washer and screw head.

3. Tighten to the torque specified in section Tightening torque below. Screw dimensions

of M8 or larger must be tightened with a torque wrench. Screw dimensions of M6 or

smaller may be tightened without a torque wrench if this is done by trained and

qualified personnel.

Tightening torque

Before tightening any screw, note the following:

• Determine whether a standard tightening torque or special torque is to be applied. The

standard torques are specified in the tables below. Any special torques are specified in

the Repair, Maintenance or Installation procedure description. Any special torque

specified overrides the standard value.

• Use the correct tightening torque for each type of screw joint.

Lubricant Art. no.

Molycote 1000 (molybdenum disulphide grease) 1171 2016-618

3HAC 023297-001 Revision: -14


1.4. Screw joints

• Only use correctly calibrated torque keys.

• Always tighten the joint by hand, and never use pneumatical tools.

• Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow,

flowing motion.

• Maximum allowed total deviation from the specified value is 10%!

The table below specifies the recommended standard tightening torque for oil-lubricated

screws with slotted or cross-recess head screws.

The table below specifies the recommended standard tightening torque for oil-lubricated

screws with Allen head screws.

The table below specifies the recommended standard tightening torque for Molycote-

lubricated screws with Allen head screws.

Dimension Tightening torque (Nm) Class 4.8, oil-lubricated

M2.5 0.25

M3 0.5

M4 1.2

M5 2.5

M6 5.0

Dimension

Tightening torque (Nm) Class 8.8, oil-lubricated



M5 6 - -

M6 10 - -

M8 24 34 40

M10 47 67 80

M12 82 115 140

M16 200 290 340

DimensionTightening torque (Nm)Class 10.9, Molycote-lubricated

Tightening torque (Nm)Class 12.9, Molycote-lubricated

M8 28 34

M10 55 66

M12 96 115

M16 235 280

153HAC 023297-001 Revision: -


1.4. Screw joints

The table below specifies the recommended standard tightening torque for water and air

connectors when one or both connectors are made of brass.

DimensionTightening torque Nm - Nominal

Tightening torque Nm - Min.

Tightening torque Nm - Max.

1/8 12 8 15

1/4 15 10 20

3/8 20 15 25

1/2 40 30 50

3/4 70 55 90

3HAC 023297-001 Revision: -16


1.5. Weight specifications

1.5. Weight specifications

Definition

In all repair and maintenance procedures, weights of the components handled are sometimes

specified. All components exceeding 22 kg (50 lbs) are high-lighted in this way.

To avoid injury, ABB recommends the use of lifting equipment when handling components

with a weight exceeding 22 kg. A wide range of lifting tools and devices are available for

each manipulator model.

Example

Below is an example of how a weight specification is presented:

CAUTION!

Caution!

The motor weighs 32 kg! All lifting equipment used must be sized accordingly!

173HAC 023297-001 Revision: -


1.6. Document references


General

The contents of this manual may include references to additional documentation necessary to

perform certain procedures. This section specifies the article numbers for the referenced

documentation.

Product specification, robot

The product specification includes generic technical data. The specification listed below is

the English version.

Product manuals, controller

The product manuals include information about installation and service activities. The table

below specifies the article numbers of the product manuals for all controller models. The part

number -001 is the English version.

Operators manual

The operators manual contains instructions for daily operation of robot systems. The table

below specifies the article numbers of the operators manuals for different robot systems.

Calibration manuals

Document name Document ID

Product specification 3HAC 9041-1

Document name Document ID

Product manual, S4Cplus M2000 3HAC 021333-001

Product manual, S4Cplus M2000A 3HAC 021128-001

Product manual, IRC5 M2004 3HAC 021313-001

Document name Document ID Note

User’s guide (S4Cplus) 3HAC 7793-1 Contains instructions for daily operation of S4Cplus based robot systems.

Operator’s manual (IRC5) 3HAC 16590-1


Calibration Pendulum Instruction

3HAC 16578-1 Enclosed with the Calibration Pendulum Toolkit.

Instructions for Levelmeter calibration (alternative method)

3HAC 022907-001 Enclosed with the Levelmeter 2000.

CalibWare 2.0 Users Guide 3HAC 16090-1 Calibration tool for Absolute Accuracy calibration.

3HAC 023297-001 Revision: -18



Additional documentation


External axes 3HAC 9299-1

193HAC 023297-001 Revision: -


1.7. Standard toolkit

1.7. Standard toolkit

General

All service (repair, maintenance and installation) instructions contain lists of tools required

to perform the specified activity. All special tools, i.e. all tools that are not considered

standard as defined below, are listed in their instructions respectively.

This way, the tools required are the sum of the Standard Toolkit and any tools listed in the

instruction.

Contents

Standard tool, IRB 140: 3HAC020812-001 contains:

Qty Art. no. Tool

1 - Ring-open-end spanner 8-19mm

1 - Socket head cap 2,5-17mm

1 - Torx socket no:20-60

1 - Torque wrench 10-100Nm

1 - Small screwdriver

1 - Ratchet head for torque wrench 1/2

1 - Socket head cap no:5, socket 1/2"" bit L 20mm



1 - Small cutting plier

3HAC 023297-001 Revision: -20


1.8. Performing a leak-down test

1.8. Performing a leak-down test

General

After refitting any motor and any gearbox, the integrity of all seals enclosing the gearbox oil

must be tested. This is done in a leak-down test.

Required equipment

Procedure

Equipment, etc. Art. no. Note

Leakdown tester 3HAC 0207-1

Leak detection spray -

Step Action Note/Illustration

1. Finish the refitting procedure of the motor or gear in question.

2. Remove the topmost oil plug on the gear in question, and replace it with the leakdown tester .

Adapters may be required, which are included in the leakdown tester kit.

Art. no. is specified above!

3. Apply compressed air, and raise the pressure with the knob until the correct value is shown on the manometer.

Recommended value: 0.2 - 0.25 bar (20 - 25 kPa)

4. Disconnect the compressed air supply.

5. Wait for approx. 8-10 minutes. No pressure loss must be detected.

If the compressed air is significantly colder or warmer than the gearbox to be tested, a slight pressure increase or decrease respectively may occur. This is quite normal.

6. Was any pressure drop evident?

Localize the leak as detailed below.

Remove the leakdown tester, and refit the oil plug.

The test is complete.

7. Spray suspected leak areas with leak detection spray .

Bubbles indicate a leak.

Art. no. is specified above!

8. When the leak has been localized: take the necessary measures to correct the leak.

213HAC 023297-001 Revision: -


1.9. Lifting equipment and lifting instructions

1.9. Lifting equipment and lifting instructions

General

Many repair and maintenance activities require different pieces of lifting equipment, which

are specified in each procedure.

The use of each piece of lifting equipment is not detailed in the activity procedure, but in

the instruction delivered with each piece of lifting equipment.

This implies that the instructions delivered with the lifting equipment should be stored for

later reference.

3HAC 023297-001 Revision: -22


1.10. Mounting instructions for bearings

1.10. Mounting instructions for bearings

General

This section details how to mount and grease different types of bearings on the manipulator.

Equipment

Assembly of all bearings

Follow the instructions below when mounting a bearing on the manipulator.

1. To avoid contamination, let a new bearing remain in its wrapping until it is time for fitting.

2. Ensure that all parts included in the bearing fitting are free from burrs, grinding waste and

other contamination. Cast components must be free from foundry sand.

3. Bearing rings, inner rings and roller elements must under no circumstances be subjected

to direct impact. Furthermore, the roller elements must not be exposed to any stresses

during the assembly work.

Assembly of tapered bearings

Follow the previous instructions for assembly of all bearings, when mounting a tapered

bearing on the manipulator.

In addition to those instructions, the procedure below must be carried out to enable the roller

elements to adjust to the correct position against the race flange.

1. Tension the bearing gradually until the recommended pre-tension is achieved.

Note! The roller elements must be rotated a specified number of turns before pre-

tensioning is carried out and also rotated during the pre-tensioning sequence.

2. Make sure the bearing is properly aligned, as this will directly affect the lifespan of the

bearing.

Greasing of bearings

The bearings must be greased after assembly, according to instructions below:

• The bearings must not be completely filled with grease. However, if space is available

beside the bearing fitting, the bearing may be totally filled with grease when mounted,

as excessive grease will be pressed out from the bearing when the robot is started.

• During operation, the bearing should be filled to 70-80% of the available volume.

• Ensure that grease is handled and stored properly, to avoid contamination.

Grease the different types of bearings as detailed below:

• Grooved ball bearings must be filled with grease from both sides.

• Tapered roller bearings and axial needle bearings must be greased in the split

condition.


Grease 3HAB 3537-1 Used to grease the bearings, if not specified otherwise.

233HAC 023297-001 Revision: -


1.11. Mounting instructions for seals


General

This sections details how to mount different types of seals to the manipulator.

Equipment

Rotating seals

The procedure below details how to fit rotating seals.

CAUTION!

Please observe the following before commencing any assembly of seals:

• Protect the sealing surfaces during transport and mounting.

• Keep the seal in its original wrappings or protect it well before actual mounting.

• The fitting of seals and gears must be carried out on clean workbenches.

• Use a protective sleeve for the sealing lip during mounting, when sliding over threads,

keyways, etc.


Grease 3HAB 3537-1 Used to lubricate the seals.

Step Action Note

1. Check the seal to ensure that:

• the seal is of the correct type (provided with cutting edge).

• there is no damage to the sealing edge (feel with a fingernail).

2. Inspect the sealing surface before mounting. If scratches or damage are found, the seal must be replaced, as it may result in future leakage.

3. Lubricate the seal with grease just before fitting. (Not too early as there is a risk of dirt and foreign particles adhering to the seal.)

Fill the space between the dust tongue and sealing lip to 2/3 with grease. The rubber coated external diameter must also be greased, unless otherwise specified.

Art. no. is specified in Equipment on page 24.

4. Mount the seal correctly with a mounting tool.

Never hammer directly on the seal as this may result in leakage.

3HAC 023297-001 Revision: -24



Flange seals and static seals

The procedure below details how to fit flange seals and static seals.

O-rings

The procedure below details how to fit o-rings.

Step Action Note

1. Check the flange surfaces. They must be even and free from pores.

It is easy to check flatness using a gauge on the fastened joint (without sealing compund).

If the flange surfaces are defective, the parts may not be used beacuse leakage could occur.

2. Clean the surfaces properly and in accordance with ABB ROBOTICS PRODUCTS recommendations.

3. Distribute the sealing compound evenly over the surface, preferably with a brush.

4. Tighten the screws evenly when fastening the flange joint.

Step Action Note

1. Ensure that the correct o-ring size is used.

2. Check the o-ring for surface defects, burrs, shape accuracy, etc. Defective o-rings may not be used.

3. Check the o-ring grooves.

The grooves must be geometrically correct and free from pores and contamination.

Defective o-rings may not be used.

4. Lubricate the o-ring with grease.

5. Tighten the screws evenly when assembling.

253HAC 023297-001 Revision: -



3HAC 023297-001 Revision: -26

2 Spare part / part list

2.1. Introduction


2.1. Introduction

Definitions

This chapter specifies all spare parts and replacement articles of the robot.

273HAC 023297-001 Revision: -


2.2. Spare part / part list


Spare part / part list

The table below details all replacement articles on the robot. The items refer to chapter

Foldouts.

Item Qty Art. no. Name Rem.

1 1 3HAC 10470-1 Base spare

2 1 3HAC 8999-1 Bottom plate

3 26 9ADA 629-44 Torx pan head roll. screw M5x12

4 1 3HAC 6599-1 Gasket bottom plate

5 1 3HAC 9522-1 Serial meas. board ass.

6 1 4944 026-4 Battery pack 7.2V 4Ah NiCd

7 2 2166 2055-6 Cable straps, outdoors 7.6x368

8 28 9ADA 618-46 Torx pan head screw M5x20

9 1 3HAC 9030-1 Cable bracket

10 1 3HAC 9415-1 Clamp

11 1 3HAC 6755-1 Cable holder


13 1 3HAC 10476-1 Control cable spare Std/F L = 3 m


15 1 3HAC 7527-1 Damper axis 1

16 20 3HAB 3402-52 Hex. socket head cap screw M10x35 8.8 Gleitmo 610

17 2 3HAC 7950-1 Washer

18 2 3HAC 9860-1 Protecting plate

19 1 3HAC 8466-1 Protective earth cable

20 2 3HAC 9063-1 Hose clip D = 10

21 1 SK 615 503-2 Membrane

22 1 SK 616 013-F Bracket CBK

23 1 1SFA 616100R1006

Actuator black

24 1 3HAC 7870-1 Gasket base-cover

25 10 9ADA 290-1 Hexagon nut with flange M5

26 1 2529 1920-2 Plug R 1/8"

27 2 2522 2101-8 Protective hood D=11.4-13

28 1 3HAC 8806-1 Clamp

29 1 3HAC 7370-1 Cable harness IRB 140

30 1 3HAC 2589-1 Instruction plate Battery replacement


32 20 ml 1234 0011-116 Flange sealing Lotctite 574

33 1 3HAC 10470-3 Base, spare CR

34 1 3HAC 10476-4 Control cable spare CR L = 3 m

3HAC 023297-001 Revision: -28








50 1 3HAC 10467-1 Gearbox axes 1-2, spare Std/F Item 67 incl.

51 2 3HAC 10469-1

3HAC 021965-001

Motor with pinion spare Std/F

52 24 3HAB 3409-25 Hex socket head cap screw M6x20 12.9 Gleitmo 610

53 18 9ADA 312-6 Plain washer 6.4x12x1.6

54 2 2152 2012-426 O-ring 74.5x3

55 1 3HAC 6788-1 Bearing hub

56 1 3HAC 10478-1 Console spare Std/F

57 1 3HAC 10472-1 Cover console spare Std/F Item 58 incl.

58 1 3HAC 7868-1 Gasket console-cover

59 1 3HAC 5894-1 Cable bracket T=1.5

60 1 3HAC 6965-1 Sealing ring 150x189x8.5

61 3 3HAC 3785-6 Parallel pin D = 6 m6 L = 16

62 2 3HAB 3732-19 Sealing ring (V-ring) 85x11


64 2 2166 2018-2 Clamp D = 11

65 1 3HAC 10481-1 Connector bracket


67 3000 ml 1171 2016-604 Lubricating oil

68 1 3HAC 10467-3 Gearbox axes 1-2, spare CR

69 2 3HAC 10469-3 /

3HAC 021966-001

Motor with pinion, spare CR

70 1 3HAC 10478-3 Console, spare CR

71 1 3HAC 10472-3 Cover console, spare CR

72 1 3HAC 10645-1 Clamp D = 4.7

100 1 3HAC 10468-1 Lower arm (axis 3), spare Item 67, 107 and 108 incl.

101 1 3HAC 10471-1 Cover, without lamp unit Item 103 incl.

102 1 3HAC 10474-1 Cover, with lamp unit Item 103 incl.

103 1 3HAC 7869-1 Gasket lower-arm cover

104 1 3HAC 7866-1 /

3HAC 021756-001

Rot. ac motor incl. pinion

105 1 3HAC 6793-1 Timing belt

106 1 3HAC 6762-1 Belt shield

107 1 3HAB 3643-17 Groove ball bearing 80x100x10

108 2 3HAA 2166-13 VK-Cover D = 100 B = 10


110 1 3HAA 2356-14 Washer SRKB 6.4x18x1.6


293HAC 023297-001 Revision: -




112 12 9ADA 312-5 Plain washer 5.3x10x1

113 1 3HAC 9258-1 Indicator lamp

114 1 3HAC 10468-4 Lower arm, spare CR

115 1 3HAC 10471-3 Cover, without lamp unit

116 1 3HAC 10474-3 Cover, with lamp unit

150 1 3HAC 10466-1 Upper arm compl. with wrist Motors incl.

151 1 3HAC 10475-1 Wrist, spare Std/F Item 155, 181 and 182 incl.

152 1 3HAC 7191-1 O-ring sealing plate


154 3 9ADA 312-7 Plain washer 8.4x16x1.6

155 3 2529 1920-2 Plug R 1/8"

156 1 3HAC 10479-1 Axis 4 complete, spare Std/F Item 111, 112, 180, 159, 161, 160 and 182 incl.


158 6 9ADA 334-7 Spring washer, conical 8.4x18x2

159 1 3HAB 3732-13 Sealing ring (V-ring) 99x10.5

160 1 3HAC 7842-1 /

3HAC 021757-001

Rot. ac motor with pinion

161 1 3HAB 3772-24 O-ring 29x3

162 2 3HAC 7841-1 /

3HAC 021758-001

Rot. ac motor with pinion


164 1 3HAC 6773-1 Motor Console axes 5-6

165 5 9ADA 183-13 Hex. socket head cap screw M5x12

166 3 3HAA 2356-15 Washer SRKB 5.3x15x1.2

167 1 3HAC 7367-1 Cable holder

168 1 3HAC 8572-1 Clamp

169 2 3HAC 6779-1 Timing belt

170 1 3HAC 6777-1 Timing Belt Pulley Z2/5

171 1 3HAC 6778-1 Timing Belt Pulley Z2/6

172 1 3HAC 7939-1 Clamping unit

173 1 3HAC 7391-1 Belt shield

174 1 3HAC 10473-1 Cover armhousing spare Item 175 incl.

175 1 3HAC 7867-1 Gasket upper arm cover


177 1 3HAC 6761-1 Cable guide

178 1 3HAC 7561-3 Dustcap for receptacles 12p


3HAC 023297-001 Revision: -30



179 2 2125 2052-178 Distance bolt M5X55

180 1 3HAC 6598-1 Hose nipple G 1/4"

181 1 3HAB 8964-1 Damper axis 5

182 550 ml 3HAC 0860-1 Lubricating oil Optimol Optigear BM 100

183 1 3HAC 10466-3 Upper arm, spare CR

184 1 3HAC 10475-4 Wrist, spare CR

185 1 3HAC 10479-3 Axis 4 complete, spare CR

186 1 3HAC 10439-3 Cover armhousing, spare CR

187 1 3HAC 11922-1 Slip strip


313HAC 023297-001 Revision: -



3HAC 023297-001 Revision: -32

3 Foldouts

3.1. Introduction

3 Foldouts

3.1. Introduction

Overview

The foldouts in this chapter refer to the part list.

333HAC 023297-001 Revision: -

1 15 18 27 8 13

21

R1/4

4 5 7 16 17 24 6 8 11 9 26

2 3 25

12

10

3

30

32

35 Nm

Base complete

29 31

Inside of base

22 23 28 3

3 31 20 19

Inside of cover

Foldout 1

33 34 3635 37 38 39

Foldout 2

51 62 56 8 57 58

52

53

62

52

55

54 53 52 51

6331593163

63

64

6061 61

50

54

53

52

31

32

15,5 Nm

52 53

67

63

70

68

69

71

ax.1 1,2 litreax.2 1,0 litre

A65 25 317225

A (1 : 2)

1091103

100

17 16 108 107

103 101 10264 3105104

112 111 106

8

18

113

4,1 Nm 35 Nm

Lower arm (shown without cables)

Do not loosenthese screws

0,4 litre67

66

Lower arm complete with cables(shown without cover)

Do not loosenthese screws

Foldout 3

114 115 116

Foldout 4

174175 8 12

112 163169

172169 170

165166

171

176156

108 157 158

173

162 164162

160

163 112

112 163

111112

161 112 111

181

152151

153 154

180 159

Upper arm (shown without cables)

4,1 Nm

35 Nm 6 Nm

4,1 Nm

4,1 Nm 6 Nm

4,1 Nm

3 Nm

182

28 Nm

0,30 litre oil (New wrist)

182

0,2 litre oil 184 185

186

0,35 litre oil (at oil change).

Upper arm with cables(shown without cover)178

155

Upper arm complete

Foldout 5

177

3

20

168

165

179

167

150

187

183

4 Circuit diagram

4.1. Introduction

4 Circuit diagram

4.1. Introduction

Overview

This chapter includes the circuit diagram for the robot.

353HAC 023297-001 Revision: -

Circuit Diagram

CONTENTS

Page

IRB 140

Manipulator, diagram 3HAC 6816-3, Rev. 0 ..............................................................101-108

Manipulator Circuit Diagram 3HAC 6816-3

IRB 140 No. of Sheets 8 Sheet no. 101

LIST OF CONTENTS



CONNECTION POINT LOCATIONS



SERIAL MEASUREMENT BOARD



MOTOR AXIS 1 - 3



FEEDBACK AXIS 1 - 3



MOTOR AXIS 4 - 6



FEED-BACK AXIS 4 - 6



CUSTOMER CONNECTIONS

IRC5-IRB140 Prod Man 3HAC023297-001 References Rev- En

Documents

Transcript of IRC5-IRB140 Prod Man 3HAC023297-001 References Rev- En