ABB Robotics

Product specification IRB 140

Product specification Articulated robot IRB 140-6/0.8 IRB 140T-6/0.8

M2004 Document ID: 3HAC9041-1 Revision: P

Copyright 2004-2010 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, 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 2004-2010 ABB. All rights reserved.

Copyright 2004-2010 ABB All right reserved. ABB AB Robotics Products SE-721 68 Vsters Sweden

Table of Contents

Overview of this Product specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1 Description 7

1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2 Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.2.1 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1.4 Load diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 1.4.2 Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 1.4.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement . 20
1.5 Mounting of equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 1.5.2 Holes for mounting of extra equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

1.6 Calibration and references. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

1.6.1 Fine calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 1.6.2 Absolute Accuracy calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1.7 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

1.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
1.8 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1.8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.8.2 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 1.8.3 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 1.8.4 Stopping distance/time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 1.8.5 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 2 Specification of Variants and Options 37

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2.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 2.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 2.3 Floor cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 2.4 Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 2.5 Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 3 Accessories 41

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Index 43

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Table of Contents

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Copyright 2004-2010 ABB. All rights reserved.

Overview of this Product specification

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: Users It is intended for: Contents Please see Table of Contents on page 3. References Reference
Product specification, Controller - IRC5 with FlexPendant Product specification, Controller Software IRC5 - RobotWare 5.12 Product Manual, Manipulator - IRB 140

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

Product managers and Product personnel Sales and Marketing personnel Order and Customer Service personnel

Document ID
3HAC021785-001 3HAC022349-001 3HAC024400-001

Product specification, Robot User Documentation - IRC5 and M200 3HAC024534-001

Revisions
Copyright 2004-2010 ABB. All rights reserved.

Revision
G

Description
- New wrist design (type C) added - Axis 5 Motion changed to 115 (from 120) - New values for Performance Acc. to ISO 9283 added - M2000 cancelled - Additional text in chapter 1.4 Load diagram. - Operating system - Calibration and references - Two manipulator variants added - Changes in chapter Standards - Directions of forces - Warranty information for Load diagrams - Old variants removed.

H J

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Overview of this Product specification Continued Revision

L

Description
- Changes for Calibration data - Work range - Explanation of ISO values (new figure and table) - Stopping distance - User documentation on DVD - General update for 9.1 release - Foundry Plus 2 - Text for standards updated

M N P

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1 Description
1.1.1. Introduction

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. Foundry Plus 2 The Foundry Plus option is 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, cast cleaning, handling in sand casting and gravity casting, etc. (Please refer to Foundry Prime 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 protected robot. The Foundry Plus 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 case 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 liquid and solid contaminants. Among other things all sensitive parts are better protected than the standard offer. Selected Foundry Plus/Foundry Plus 2 features: Improved sealing to prevent penetration into cavities to secure IP67 Additional protection of cabling and electronics Special covers protecting cavities Well-proven connectors Nickel coated tool flange (Foundry Plus 2) Rust preventives on screws, washers and unpainted/machined surfaces

Copyright 2004-2010 ABB. All rights reserved.

The Foundry Plus robot can be cleaned with appropriate washing equipment according to product manual. Appropriate cleaning and maintenance are required to maintain the Foundry Plus 2 protection, for example can rust preventive be washed off with wrong cleaning method.

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1 Description
1.1.1. Introduction Continued Clean room robots

xx0900000435

The clean room robots are classified for 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: Parameter
Area (m2) Test duration (s)

Outgassing amount
Temp. PerTotal (oC) formedte detected st (ng) 23 90 TVOC TVOC 2848 46524 Normed based Classification in on 1 m2 and 1s accordance toISO (g) 14644-8 1.7E-07 1.7E-04 -6.8 -3.8

4.5E-03 3600 4.5E-03 60

Classification results in accordance with ISO 14644-8 at different test temperatures. See chapter Specification of Variants and Options for options not selectable together with 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 IRC5 with FlexPendant.
Copyright 2004-2010 ABB. All rights reserved.

Safety Safety standards valid for complete robot, manipulator and controller. 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 the Product specification - Controller software IRC5.

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1 Description
1.1.1. Introduction Continued Manipulator axes

xx1000000859

Pos
Copyright 2004-2010 ABB. All rights reserved.

Description
Axis 1 Axis 3 Axis 5

Pos
B D F

Description
Axis 2 Axis 4 Axis 6

A C E

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1 Description
1.1.2. Different robot versions

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. The high speed variant, IRB 140T, provides further reduced cycle time: Robot type
IRB 140 IRB 140T

Handling capacity (kg)

6 kg 6 kg

Reach (m)
0.8 m 0.8 m

Manipulator Weight Data

Manipulator

Description
98 kg (excluding the cables to the controller)

Other technical data Data Description Note

< 70 dB (A) Leq (acc. to the working space Machinery directive 89/392 EEC)

Airborne noise level The sound pressure level outside

Power consumption Speed (mm/s)

Max. 1000 500 100

Power consumption (kW)

0.44 0.39 0.36 0.34

xx1000000101

Pos
A

Description
250 mm

Path E-E2-E3-E4 in the ISO Cube, maximum load. Continues on next page
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1 Description
1.1.2. Different robot versions Continued Dimensions IRB 140

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xx1000000864

Pos
A

Description
Minimum turning radius

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1 Description
1.2.1. Standards

1.2 Standards 1.2.1. Standards

Standards, EN ISO The manipulator system is designed in accordance with the requirements of: Standard
EN ISO 12100 -1 EN ISO 12100 -2 EN ISO 13849-1 EN ISO 13850 EN ISO 10218-1 EN ISO 9787 EN ISO 9283 EN ISO 14644-12 EN ISO 13732-1 EN IEC 61000-6-4 (option 129-1) EN IEC 61000-6-2 EN IEC 60974-1 EN IEC 60204-1 IEC 60529
3 3 1

Description
Safety of machinery - Basic concepts, general principles for design - Part 1: Basic terminology, methodology Safety of machinery - Basic concepts, general principles for design - Part 2: Technical principles Safety of machinery, safety related parts of control systems Part 1: General principles for design Safety of machinery - Emergency stop - Principles for design Robots for industrial environments - Safety requirements -Part 1 Robot Manipulating industrial robots, Coordinate systems and motion nomenclatures Manipulating industrial robots, Performance criteria and related test methods Classification of air cleanliness Ergonomics of the thermal environment - Part 1 EMC, Generic emission EMC, Generic immunity Arc welding equipment - Part 1: Welding power sources Arc welding equipment - Part 10: EMC requirements Safety of machinery - Electrical equipment of machines - Part 1 General requirements Degrees of protection provided by enclosures (IP code)
Copyright 2004-2010 ABB. All rights reserved.

EN IEC 60974-10

1. There is a deviation from paragraph 6.2 in that only worst case stop distances and stop times are documented. 2. Only robots with Protection Clean Room. 3. Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots. European standards Standard
EN 614-1 EN 574 EN 953

Description
Safety of machinery - Ergonomic design principles - Part 1: Terminology and general principles Safety of machinery - Two-hand control devices - Functional aspects - Principles for design Safety of machinery - General requirements for the design and construction of fixed and movable guards

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1 Description
1.2.1. Standards Continued Other standards StandardStandard
ANSI/RIA R15.06ANSI/ RIA R15.06

DescriptionDescription
Safety Requirements for Industrial Robots and Robot SystemsSafety Requirements for Industrial Robots and Robot Systems

ANSI/UL 1740(option 429- Safety Standard for Robots and Robotic Equipment 1) CAN/CSA Z 434-03(option Industrial Robots and Robot Systems - General Safety Require429-1) ments

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1 Description
1.3.1. Introduction

1.3 Installation 1.3.1. Introduction

General IRB 140 is available in four different environmental adapted variants, one for normal industrial environment, one for foundry, one for other harsh environments, and one for clean room environments. An end effector, weighing a maximum of 6 kg, including payload, can be mounted on the robots 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.

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1 Description
1.3.2. Operating requirements

1.3.2. Operating requirements

General Robot version/ Protection standard
All variants, manipulator

IEC60529
IP67

Steam washable Foundry Plus and SteamWash version 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 Description
Manipulator during operation For the controller

Standard/Option
Standard Standard/Option

Temperature
+ 5C (41F) to + 45C (113F) See Product specification Controller IRC5 with FlexPendant - 25C (-13F) to + 55C (131F) up to + 70C (158F)

Complete robot during Standard transportation and storage For short periods (not exceeding 24 hours) Standard

Relative humidity Description

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Relative humidity
Max. 95% at constant temperature Max. 95% at constant temperature

Complete robot during transportation and storage Complete robot during operation

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1 Description
1.3.2. Operating requirements Continued Mounting the manipulator Maximum load in relation to the base coordinate system. See Figure in Illustration on page 17: Data
Force xy floor suspended wall floor suspended wall Floor, suspended Floor, suspended Wall mounted Wall mounted

Endurance load in operation

1020 N 1020 N 1750 N -1000 620 N +1000 620 N 850 N 700 Nm 250 Nm 1020 Nm 250 Nm

Max. load at emergency stop

2000 N 2000 N 2800 N -1000 1250 N +1000 1250 N 1600 N 1500 Nm 470 Nm 1710 Nm 485 Nm

Force z

Torque Mxy Torque Mz Torque Mxy Torque Mz

T or q ue F o r c e z ( F)z F o rc e ( F )x y

xy

( M )x y
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xy

Y T or q ue
z

(M) z X

xx1000000860

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1 Description
1.3.2. Operating requirements Continued Note regarding Mxy and Fxy The bending torque (Mxy) can occur in any direction in the XY-plane of the base coordinate system. The same applies to the transverse force (Fxy). Illustration

xx1000000865

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1 Description
1.4.1. Introduction

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 is the service routine LoadIdentify available, which allows the user to make an automatic definition of the tool and load, to determine correct load parameters. Please see Operating Manual - IRC5 with FlexPendant, art. No. 3HAC16590-1, for detailed information. 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, J0 of 0.012 kgm2. At different moment of inertia the load diagram will be changed. Control of load case by RobotLoad For an easy check of a specific load case, use the calculation program ABB RobotLoad. Please contact your local ABB organization.
Copyright 2004-2010 ABB. All rights reserved.

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1 Description
1.4.2. Diagrams

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

Copyright 2004-2010 ABB. All rights reserved.

Load diagram_rated weightxx1000000862

Description
Z L J0 See the above diagram and the coordinate system in the Product specification - IRC5 with FlexPendant Distance in X-Y plane from Z-axis to the center of gravity Rated own moment of inertia on the total handle weight = 0.012 kgm2

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1 Description
1.4.3. Maximum load and moment of inertia for full and limited axis 5 (center line down) movement

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 (Jox, Joy, Jox) in kgm2. L= (X2 + Y2), see Figure below. Full movement of Axis 5 (115) Axis Robot Type
5 6 IRB 140(T)-6/0.8 IRB 140(T)-6/0.8

Max. value
J5 = Mass x ((Z + 0.065)2 + L2) + max (Jox, Joy) 0.42 kgm2 J6= Mass x L2 + J0Z 0.30 kgm2

xx1000000866

Pos
A

Description
Center of gravity

Description
Jox, Joy, Joz Max. moment of inertia around the X, Y and Z axes at center of gravity.

Wrist torque NOTE! 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.
Copyright 2004-2010 ABB. All rights reserved.

The table below shows the maximum permissible torque due to payload.

Robot type
IRB 140(T)-6/0.8

Max wrist torque Max wrist torque Max torque valid axis 4 and 5 axis 6 at load
8.58 Nm 4.91 Nm 5 kg

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1 Description
1.5.1. Introduction

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.

Copyright 2004-2010 ABB. All rights reserved.

The shaded area indicates the permittexx1000000867

Pos
A B C

Description
Center line of Axis 5 Maximum 0.5 kg when 1.0 kg on to the upper arm house 0 kg when 1.5 kg on to the upper arm house Maximum 1 kg when 0.5 kg on to the wrist 1.5 kg when 0 kg on to the wrist

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1 Description
1.5.2. Holes for mounting of extra equipment

1.5.2. Holes for mounting of extra equipment

Wrist design IRB 140 M2004

xx1000000868

Wrist design IRB 140 M2004, Type C

xx1000000869

Upper arm housing

xx1000000870

Pos
A

Description
Design until September 2006: 2x M5 depth 7.5, Mounting holes for equipment. Design after September 2006, Type C: 2x M6 depth 10, Mounting holes for equipment. 2x M5 depth 7.5, Mounting holes for equipment.

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1 Description
1.5.2. Holes for mounting of extra equipment Continued Robot tool flange

xx1000000871

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1 Description
1.6.1. Fine calibration

1.6 Calibration and references 1.6.1. Fine calibration

General Fine calibration is made using the Calibration Pendulum, please see Operating manual Calibration Pendulum.

xx1000000859

Pos
A C E

Description
Axis 1 Axis 3 Axis 5

Pos
B D F

Description
Axis 2 Axis 4 Axis 6

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1 Description
1.6.1. Fine calibration Continued Calibration Calibration
Calibration of all axes Calibration of axis 1 and 2 Calibration of axis 1

Position
All axes are in zero position Axis 1 and 2 in zero position Axis 3 to 6 in any position Axis 1 in zero position Axis 2 to 6 in any position

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1 Description
1.6.2. Absolute Accuracy calibration

1.6.2. Absolute Accuracy calibration

General Requires RobotWare option Absolute Accuracy, please see Product specification - Controller software IRC5 for more details. The calibration concept Absolute Accuracy (AbsAcc) is a calibration concept, which ensures a TCP absolute accuracy of better than 1 mm in the entire working range. Absolute accuracy compensates for: Mechanical tolerances in the robot structure Deflection due to load

Absolute accuracy calibration is focusing on positioning accuracy in the cartesian coordinate system for the robot. It also includes load compensation for deflection caused by the tool and equipment. Tool data from robot program is used for this purpose. The positioning will be within specified performance regardless of load. Calibration data The user is supplied with robot calibration data (compensation parameters saved on the manipulator SMB) and a certificate that shows the performance (Birth certificate). The difference between an ideal robot and a real robot without AbsAcc can typically be 8 mm, resulting from mechanical tolerances and deflection in the robot structure. If there is a difference, at first start-up, between calibration data in controller and the robot SMB, correct by copying data from SMB to controller.

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1 Description
1.6.2. Absolute Accuracy calibration Continued Absolute Accuracy option Absolute Accuracy option is integrated in the controller algorithms for compensation of this difference and does not need external equipment or calculation. Absolute Accuracy is a RobotWare option and includes an individual calibration of the robot (mechanical arm). Absolute Accuracy is a TCP calibration in order to Reach (m) a good positioning in the Cartesian coordinate system.

xx1000000863

Production data Typical production data regarding calibration are: Positioning accuracy (mm) Robot Average
Copyright 2004-2010 ABB. All rights reserved.

Max
0,75

% Within 1 mm
100

IRB 140(T)-6/0.8

0,35

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1 Description
1.7.1. Introduction

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 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. 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.

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1 Description
1.8.1. Introduction

1.8 Robot Motion 1.8.1. Introduction

General Type of motio
Axis 1: Rotation motion Axis 2: Arm motion Axis 3: Arm motion Axis 4: Wrist motion Axis 5: Bend motion Axis 6: Turn motion

Range of movement
+ 180 to - 180 + 110 to - 90 + 50 to - 230 + 200 to - 200 Default + 165 revolutions to - 165 revolutions Max.a + 115 to - 115 + 400 to - 400 Default + 163 revolutions to -163 revolutions Max.a

a. 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).

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1 Description
1.8.1. Introduction Continued

xx1000000872

Position No. (see Figure 12)

0 1 2 3 6 7 8

Position (mm) X
450 70 314 765 1 218 -670

Position (mm) Z
712 1092 421 99 596 558 352

Angle (degrees) Axis 2

0 0 0 110 -90 110 -90

Angle (degrees) Axis 3

0 -90 +50 -90 +50 -230 -90
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1 Description
1.8.2. Performance according to ISO 9283

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 The figures for AP, RP, AT and RT are measured according to figure below.

xx0800000424

Pos
A B AP RP

Description
Programmed position Mean position at program execution Mean distance from programmed position Tolerance of position B at repeated positioning

Pos
E D AT RT

Description
Programmed path Actual path at program execution Max deviation from E Tolerance of the path at repeated program execution

Description IRB
Pose repeatability, RP (mm)
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Values 140-6/0.8 and 140T-6/0.8

0.03 0.02 0.08 0.67
a

Pose accuracy, AP (mm) Linear path repeatability, RT (mm) Linear path accuracy, AT (mm)

Pose stabilization time, Pst (s) within 0.2 mm 0.08 of the position

a. 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.

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1 Description
1.8.2. Performance according to ISO 9283 Continued Typical values for conveyor tracking All values measured with PickMaster and IRC5. Constant conveyor speed (mm/s)
100 300

Repeatability (mm)
0.4 0.7

Start/stop conveyor (mm/s)

300 (start/stop in 0.5 sec.)

Repeatability (mm)
0.7

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1 Description
1.8.3. Velocity

1.8.3. Velocity
General Axis No.
1 2 3 4 5 6

IRB 140-6/0.8
200/s 200/s 260/s 360/s 360/s 450/s

IRB 140T-6/0.8
250/s 250/s 260/s 360/s 360/s 450/s

Supervision is required to prevent overheating in applications with intensive and frequent movements. Resolution Approx. 0.01o on each axis.

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1 Description
1.8.4. Stopping distance/time

1.8.4. Stopping distance/time

General Stopping distance/time for emergency stop (category 0), program stop (category 1) and at mains power supply failure at max speed, max streched out and max load, categories according to EN 60204-1. All results are from tests on one moving axis. Category 0 Robot Type Axis
IRB 140-6/0.8 1 2 3 IRB 140T-6/0.8 1 2 3

Category 1 A
n.a. n.a. n.a. 49.2 64.5 43.8

Main power failure A

n.a. n.a. n.a. 38.7 37.8 33.8

A
n.a. n.a. n.a. 23.6 22.7 18.1

B
n.a. n.a. n.a. 0.17 0.19 0.13

B
n.a. n.a. n.a. 0.34 0.36 0.29

B
n.a. n.a. n.a. 0.25 0.25 0.19

Description
A B Distance in degrees Stop time (s)

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1 Description
1.8.5. Signals

1.8.5. Signals
Signal connections on robot arm To connect extra equipment on the manipulator, there are cables integrated into the 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 (R 1 / 4) at the base and an outlet (R1/4) on the upper arm housing. Description
Signals Air

Number
12 1

Values
49 V, 500 mA Max. 8 bar, inner hose diameter 6.5 mm

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1 Description
1.8.5. Signals

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2 Specification of Variants and Options

2.1. General

2 Specification of Variants and Options

2.1. General
Information 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 - Controller IRC5 with FlexPendant, and for software options, see Product specification - RobotWare Options.

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2 Specification of Variants and Options

2.2. Manipulator

2.2. Manipulator
Variants Option
435-87 435-87

Variant
Standard performance variant High speed variant

Robots
IRB 140-6/0.8 IRB 140T-6/0.8

Manipulator color Option

209-1 209-2 209-4--192

Description
The robot is painted in color ABB Orange. The robot is painted in white color. The manipulator is painted with the chosen RAL-color

Protection Option
287-4 287-3

Description
Standard The Foundry Plus option is 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, cast cleaning, handling in sand casting and gravity casting, etc. 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 robot. The Foundry Plus robot is painted with twocomponent 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 case 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 liquid and solid contaminants. Among other things all sensitive parts are better protected than the standard offer. Selected Foundry Plus/Foundry Plus 2 features: - Improved sealing to prevent penetration into cavities to secure IP67 - Additional protection of cabling and electronics - Special covers protecting cavities - Well-proven connectors - Rust preventives on screws, washers and unpainted/machined surfaces - Extended service and maintenance program The Foundry Plus 2 robot can be cleaned with appropriate washing equipment.

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2 Specification of Variants and Options

2.2. Manipulator Continued Option
287-1

Description
Clean room Please see Clean room robots on page 8. The robot is labeled with Clean Room. SteamWash Robot with the same protection as in option 287-3.

287-5

Connector kit Option

431-1

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

Safety lamp Option

213-1

Description
Safety lamp 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.

RoboCare Option
935-1 935-2

Type
RoboCare II RoboCare III

Description
2 years. REQUIRES: Remote Service [890-1] 3 years. REQUIRES: Remote Service [890-1]

Warranty
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Option
438-1 438-2 438-4 438-5 438-6 438-7 438-8

Type
Standard Warranty Standard + 12 months Standard + 18 months Standard + 24 months Standard + 6 months Standard + 30 months Stock Warranty

Description
Standard warranty is 18 months (1 1/2 years) 18 + 12 months (2 1/2 years) 18 + 18 months (3 years) 18 + 24 months (3 1/2 years) 18 + 6 months (2 years) Warranty extension 30 months Maximum 6 months postponed warranty starting from shipment date ABB Robotics Production unit (PRU) + Option 438-1. Warranty commences automatically after 6 months or from activation date of standard warranty. (See ABB Robotics BA Warranty Rules).

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2 Specification of Variants and Options

2.3. Floor cables

2.3. Floor cables

Manipulator cable length Option
210-1 210-2 210-3 210-4 210-5

Lengths
3m 7m 15 m 22 m 30 m

2.4. Process
Process module Option
768-1 768-2 715-1

Type
Empty cabinet small Empty cabinet large Installation kit

Description
See Product specification - Controller IRC5 with FlexPendant, chapter 2.2.1. See Product specification - Controller IRC5 with FlexPendant, chapter 2.2.1. See Product specification - Controller IRC5 with FlexPendant, chapter 2.2.1.

2.5. Documentation
DVD User Documentation Option
808-1

Type

Description

Documentation on DVD See Product specification - Robot user documentation

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3 Accessories
3.1. Introduction

3 Accessories
3.1. Introduction
Basic software and softwaer options for robot and PC For more information, see Product specification - Controller IRC5 with FlexPendant, and Product specification - RobotWare Options. Robot Peripherals Motor Units

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3 Accessories
3.1. Introduction

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Contact us

www.abb.com

3HAC9041-001 Rev P, en

ABB AB Discrete Automation and Motion Robotics S-721 68 VSTERS SWEDEN Telephone +46 (0) 21 344 400