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Product specification

Articulated robot
IRB 140
IRB 140 - F
IRB 140 - CW
IRB 140 - CR
M2004/M2000



Product specification
Articulated robot
3HAC 9041-1
Rev.6
IRB 140
IRB 140 - F
IRB 140 - CW
IRB 140 - CR
M2004/M2000

The information in this manual is subject to change without notice and should not be construed
as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in
this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be construed
as any kind of guarantee or warranty by ABB for losses, damages to persons or property, 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 AB
Robotics
SE-721 68 Vsters
Sweden

Table of Contents
1 Description

1.1 Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1.1 Instruction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Foundry and Wash robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clean Room robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manipulator axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5
5
5
6

1.1.2 Different robot versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7


General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Manipulator Weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Other technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dimensions IRB 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7
7
7
7
8

1.2 Safety/Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safety category 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Selecting the operating mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Reduced speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Three position enabling device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safe manual movement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Over-speed protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Safeguarded space stop. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Delayed safeguarded space stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Collision detection (option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Restricting the working space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Hold-to-run control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Fire safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Safety lamp (option) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.3.2 Operating requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12


Steam washable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Clean room standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Explosive environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Ambient temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Relative humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting the manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Illustration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12
12
12
12
12
13
13

1.3.3 Load diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14


IRB 140 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mass 5 Kg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting of equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14
15
15
16

1.4 Maintenance and Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5 Robot Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.6 Performance according to ISO 9283 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.7 Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.8 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.9 Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Signal connections on robot arm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

3HAC 9041-1

Rev.6

Table of Contents
2 Specification of Variants and Options

23

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.2 Manipulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Manipulator colour . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Connector kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Safety lamp. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3 Accessories

25

Basic software and software options for robot and PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25


Robot Peripherals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3HAC 9041-1

Rev.6

1 Description
1.1.1 Instruction

1 Description
1.1 Structure
1.1.1 Instruction

General

IRB 140 is a 6-axis industrial robot, designed specifically for manufacturing 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 and
Wash robots

The robot versions Foundry and Wash are designed for harsh environments and have
special surface treatment and paint for excellent corrosion protection. The connectors
are designed for severe environment, and bearings, gears and other sensitive parts are
high protected. The robots have the FoundryPlus protection which means that the
whole manipulator is IP67 classified and steam washable.

Clean Room
robots

The Clean Room robots are classified for clean room class 10 according to US Federal Standard 209 or class 4 according to ISO 14644-1.
The robot is equipped with the IRC5 controller and robot control software, RobotWare for M2004 and with the S4Cplus controller and robot control software
BaseWare OS for M2000. RobotWare och BaseWare OS supports every aspect of the
robot system, such as motion control, development and execution of application programs, communication etc. See Product Specification IRC5 for M2004 and Product
Specification S4Cplus for M2000.
Safety standards require a controller to be connected to the robot.
For additional functionality, the robot can be equipped with optional software for
application support - for example gluing and arc welding, communication features network communication - and advanced functions such as multitasking, sensor control etc. For a complete description on optional software, see the Product Specification RobotWare Options.

3HAC 9041-1

Rev.6

1 Description
1.1.1 Instruction

Manipulator axes

Axis 3
Axis 4
Axis 5

Axis 2
Axis 6

Axis 1

Figure 1 The IRB 140 manipulator has 6 axes.

Rev.6

3HAC 9041-1

1 Description
1.1.2 Different robot versions

1.1.2 Different robot versions

General

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

Environment
adaption

Standard performance
High speed variants
variants

Standard

IRB 140

IRB 140T

Foundry

IRB 140F

IRB 140TF

Wash

IRB 140CW

IRB 140TCW

Clean room

IRB 140CR

IRB 140TCR

Data

Description

Manipulator

98 kg (excluding the cables to the controller)

Data

Description

Note

Airborne noise
level

The sound pressure


level outside

< 70 dB (A) Leq (acc. to the working


space Machinery directive 89/392 EEC)

Manipulator
Weight

Other technical
data

Power
consumption

Path E-E2-E3-E4 in the ISO Cube, maximum load.

Speed (mm/s)

Power consumption (kW)

Max.

0.44

1000

0.39

500

0.36

100

0.34

E1
P2

E2
P30

P40

P10
E4

E3

X
250 mm
Figure 2 Path E-E2-E3-E4
in the ISO Cube, maximum load
Y

3HAC 9041-1

Rev.6

1 Description
1.1.2 Different robot versions

Dimensions
IRB 140

595
380

65

70

360

810

352

204

177

273

70
448

CL

CL axis 1

R244
Minimum turning
radius

402

123

Figure 3 View of the manipulator from the back, side and above (dimensions in mm).

Rev.6

3HAC 9041-1

1 Description
1.1.2 Different robot versions

1.2 Safety/Standards
Standards

The robot conforms to the following standards:

Standard

Description

EN ISO 12100-1 Safety of machinery, terminology


EN ISO 12100-2 Safety of machinery, technical specifications
EN 954-1

Safety of machinery, safety related parts of control systems

EN 60204

Electrical equipment of industrial machines

EN 61000-6-4
(option)

EMC, Generic emission

EN 61000-6-2

EMC, Generic immunity

EN 775

Manipulating industrial robots, safety

Standard

Description

IEC 204-1

Electrical equipment of industrial machines

IEC 529

Degrees of protection provided by enclosures

Standard

Description

ISO 10218

Manipulating industrial robots, safety

ISO 9787

Manipulating industrial robots, coordinate systems and motions

ISO 9409-1

Manipulating industrial robots, mechanical interface

Standard

Description

ANSI/RIA
R15.06/1999
(option)

Safety Requirements for Industrial Robots and Robot Systems

ANSI/UL 17401998 (option)

Safety Standard for Industrial Robots and Robotic Equipment

CAN/CSA Z
43403 (option)

Industrial Robots and Robot Systems - General Safety Requirements

US Federal
Standard 209

Clean room classification

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

3HAC 9041-1

Rev.6

1 Description
1.1.2 Different robot versions

Safety

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

Safety category 3

Malfunction of a single component, such as a sticking relay, will be detected at the


next MOTOR OFF/MOTOR ON operation. MOTOR ON is then prevented and the
faulty section is indicated. This complies with category 3 of EN 954-1, Safety of
machinery - safety related parts of control systems - Part 1.

Selecting the
operating mode

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

Reduced speed

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

Three position
enabling device

The enabling device on the teach pendant must be used to move the robot when in
manual mode. The enabling device consists of a switch with three positions, meaning
that all robot movements stop when either the enabling device is pushed fully in, or
when it is released completely. This makes the robot safer to operate.

Safe manual
movement

The robot is moved using a joystick instead of the operator having to look at the teach
pendant to find the right key.

Over-speed
protection

The speed of the robot is monitored by two independent computers.

Emergency stop

There is one emergency stop push button on the controller and another on the teach
pendant. Additional emergency stop buttons can be connected to the robots safety
chain circuit.

10

Rev.6

3HAC 9041-1

1 Description
1.1.2 Different robot versions

Safeguarded
space stop

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

Delayed
safeguarded
space stop

A delayed stop gives a smooth stop. The robot stops in the same way as at normal
program stop with no deviation from the programmed path. After approx. one second
the power supplied to the motors shuts off.

Collision
detection (option)

In case an unexpected mechanical disturbance like a collision, electrode stik etc


appears, the robot will stop and slightly back off from its stop position.

Restricting the
working space

The movement of each of the axes can be restricted using software limits.

Hold-to-run
control

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

Fire safety

Both the manipulator and control system comply with ULs (Underwriters Laboratories) tough requirements for fire safety.

Safety lamp
(option)

The robot can be equipped with a safety lamp mounted on the manipulator. This is
activated when the motors are in the MOTORS ON state.

3HAC 9041-1

Rev.6

11

1 Description
1.3.1 Introduction

1.3 Installation
1.3.1 Introduction

General

IRB 140 is available in four different environmental adapted variants, one for normal
industrial environment, one for foundry, one for other harsh environment, and one for
clean room environment. An end effector, weighing a maximum of 5 kg, including
payload, can be mounted on the 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 7 .

1.3.2 Operating requirements

Robot version/
Protection standard

IEC529

All variants, manipulator

IP67

Steam washable

Foundry and Wash version

Clean room
standards

Clean room manipulator US Federal Standard 209, class 10 or ISO 14644-1 class 4.

Explosive
environments

The robot must not be located or operated in an explosive environment.

Ambient
temperature
Description

Temperature

Manipulator during operation

+5oC (41oF) to +45oC (113oF)

Complete robot during transportation and storage

-25oC (-13oF) to +55oC (131oF)

For short periods (not exceeding 24 hours)

up to +70oC (158oF)

Description

Relative humidity

Complete robot during transportation and storage

Max. 95% at constant temperature

Complete robot during operation

Max. 95% at constant temperature

Relative humidity

12

Rev.6

3HAC 9041-1

1 Description
1.3.2 Operating requirements

Mounting the
manipulator

Maximum load in relation to the base coordinate system. See Figure 4:

Data

Endurance load in
operation

Max. load at
emergency stop

Force xy

floor
suspended
wall

1300N
1300N
2200N

3200N
3200N
3900N

Force z

floor
suspended
wall

-1000 1000N
+1000 1 000N
1000N

-1000 2000N
+1000 2000N
2200N

Torque Mxy

1300Nm

2200Nm

Torque Mz

300Nm

750Nm

Illustration
13

39

25H8 (2x)

12

0,25

80

155

39

25H8 (2x)

45

B-B
A

A-A

180

13

180

C Axis 1

Figure 4 Hole configuration (dimensions in mm).

3HAC 9041-1

Rev.6

13

1 Description
1.3.3 Load diagram

1.3.3 Load diagram

IRB 140

The robot is optimized for the rated load according to the load diagram and rated
moment of inertia. These have been used in the performance tests. The maximum
allowed load and moment of inertia are received from the formulas in Figure 6.

Load diagram "MIA"


(Rated Performance)

Z mm

0,450
450

400
0,400

350
0,350
1kg

Z (m)

300
0,300

250
0,250
2kg

200
0,200

3kg

150
0,150
4kg
5kg

0,100
100

50
0,050
L mm
0,000
0

50
0,05

100
0,1

150
0,15

200
0,2

250
0,25

300
0,3

350
0,35

65
L (m)

Z = see the above diagram and the coordinate system


in the Product Specification S4Cplus
L = distance in X-Y plane from Z-axis to the centre of gravity
J0 = rated own moment of inertia
on the total handle weight = 0.012kgm2
Figure 5 Rated weight for tool mounted on the mounting flange at different positions (center of gravity).

14

Rev.6

3HAC 9041-1

1 Description
1.3.3 Load diagram

Definitions

Mass 5 Kg

Mass

kg

Length (Z, L)

Nm

kgm2

Axis 5

Load

Description

Maximum static load

T5 = 9.81 Mass

(Z+0.065)2 +L2

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 6

Load

Description

Maximum static load

T6 = 9.81 Mass L 4.9 Nm

Maximum dynamic load

J6 = Mass L2 + J0Z 0.24 kgm2

Center of gravity

JOL = Maximum own moment of inertia


around the maximum vector in the X - Y - plane

JOL = Maximum own moment of inertia around Z

Figure 6 Own moment of inertia.

3HAC 9041-1

Rev.6

15

1 Description
1.3.3 Load diagram

Mounting of
equipment

70

74
37
Mounting holes
for equipment
M5 Depth 7.5 (2x)
Note! Maximum 0.5 kg
if 1.0 kg on the upper arm house

D=150

0 kg if 1,5 kg on
the upper arm house

120
51

62
31

Mounting holes
for equipment
M5 Depth 7.5 (2x)

185

D=220

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

Figure 7 The shaded area indicates the permitted position of the center of gravity for any extra equipment mounted (dimensions in mm).

16

Rev.6

3HAC 9041-1

1 Description
1.3.3 Load diagram

+0.012
-0
H7

+0.033

M6 (4x)

D=25 -0

R=20

h8

+0
-0.039

0.05

D=50

45

D=6

H8

A
o

A
6

90o (4x)

A-A
Figure 8 The mechanical interface, mounting flange (dimensions in mm).

3HAC 9041-1

Rev.6

17

1 Description
1.4.1 Introduction

1.4 Maintenance and Troubleshooting


1.4.1 Introduction

General

Maintenance

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.

The following maintenance is required:

Changing batteries every third year.

The maintenance intervals depends on the use of the robot. For detailed information
on maintenance procedures, see Maintenance section in the Product Manual.

18

Rev.6

3HAC 9041-1

1 Description
1.5.1 Introduction

1.5 Robot Motion


1.5.1 Introduction

Type of motion

Range of movement

Axis 1: Rotation motion

+180o to - 80o

Axis 2: Arm motion

+110o to -90o

Axis 3: Arm motion

+50o to -230o

Axis 4: Wrist motion

+200o to +200o Default


+165 revolutions to -165 revolutions Max**)

Axis 5: Bend motion

+120o to -120o

Axis 6: Turn motion

+400o to -400o Default


+163 revolutions to -163 revolutions Max**)

**)Option. The default working range for axis 4 and axis 6 can be extended by
changing parameter values in the software
Pos 1

Z
Pos 0

Pos 6
Pos 7

1120

1243

Pos 2

Pos 8

Pos 3

X
151

28

70
184
670

486

324
810

Positions at wrist center (mm) and Angle (degrees)


see the table on the next page
Figure 9 The extreme positions of the robot arm.

3HAC 9041-1

Rev.6

19

1 Description
1.5.1 Introduction

Positions at wrist center (mm) and Angle (degrees) for IRB 140:

Position no
(see Figure 9)

Angle
Position (mm) Position (mm)
(degrees)
X
Z
Axis 2

Angle
(degrees)
Axis 3

450

712

70

1092

-90

314

421

+50

765

99

110

-90

596

-90

+50

218

558

110

-230

-670

352

-90

-90

1.6 Performance according to ISO 9283


General

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

Description

Values

Unidirectional pose repeatability

RP = 0.03 mm

Linear path accuracy

AT = 1.0 mm

Linear path repeatability

RT = 0.15 mm

Minimum positioning time, to within 0.5 mm of the


position

0.2 sec. (on 35 mm linear path)

The above values are the range of average test-results from a number of robots.

1.7 Velocity
Axis no.

IRB 140
o

IRB 140T

200 /s

250o/s

200o/s

250o/s

260o/s

260o/s

360o/s

360o/s

360 /s

360o/s

450o/s

450o/s

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

20

Rev.6

3HAC 9041-1

1 Description
1.5.1 Introduction

1.8 Resolution
Approx. 0.01o on each axis.

1.9 Signals
Signal
connections on
robot arm

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

3HAC 9041-1

Description

Number

Values

Signals

12

49V, 500 mA

Air

Max. 8 bar, inner hose diameter 6.5 mm

Rev.6

21

1 Description
1.5.1 Introduction

22

Rev.6

3HAC 9041-1

2 Specification of Variants and Options

2 Specification of Variants and Options


2.1 Introduction
General

The different variants and options for the IRB 140 are described below.
The same numbers are used here as in the Specification form.
For controller options, see Product Specification for the controller, and for software
options, see Product Specification RobotWare Options.

2.2 Manipulator
Variants
Option

Variant

Robots

435-2

Standard performance
variants

IRB 140 / IRB 140F / IRB 140CW /


IRB 140CR

435-44

High speed variants:

IRB 140T / IRB 140TF / IRB 140TCW /


IRB 140TCR

Option

Description

209-1

The robot is painted in colour ABB Orange.

209-2

The robot is painted in white colour.

209-4--192

The manipulator is painted with the chosen RAL-colour

Option

Description

287-4

Standard manipulator

287-3

Foundry
Robot adapted for foundry or other harsh environments.
The robot has the FoundryPlus protection which means that the whole
manipulator is IP67 classified and steam washable. An excellent corrosion
protection is obtained by a special coating. The connectors are designed
for severe environments, and bearings, gears and other sensitive parts are
high protected. The robot is labeled with Foundry Plus.

287-1

Clean Room
Robot with clean room class 10 according to US Federal Standard 209 and
with the same protection as in option 287-4.
The robot is labeled with Clean Room.

287-5

Wash
Robot with the same protection as in option 287-3.

Manipulator
colour

Protection

3HAC 9041-1

Rev.6

23

2 Specification of Variants and Options

Connector kit
Option

Description

431-1

Detached connectors, suitable to the connectors on the upper arm.


The kit consists of connectors, pins and sockets.

Option

Description

213-1

Safety 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.

Safety lamp

24

Rev.6

3HAC 9041-1

3 Accessories

3 Accessories
Basic software
and software
options for robot
and PC

Robot
Peripherals

3HAC 9041-1

For more information, see Product Specification IRC5 for M2004 and S4Cplus for
M2000, and Product Specification RobotWare Options.

Motor Units

Rev.6

25

3 Accessories

26

Rev.6

3HAC 9041-1

Index

accessories, 25

range of movement
working space, 19
reduced speed, 10
repeatability, 20
resolution, 21
Robot Peripherals, 25
robot versions, 7, 23

C
Clean Room, 5
Clean room, 12
clean room standards, 12
connector kit, 24
cooling device, 7
E
emergency stop, 10
enabling device, 10
equipment
mounting, 16
permitted extra load, 16
F
fire safety, 11
Foundry, 12
FoundryPlus, 5
H
hold-to-run control, 11
hole configuration, 13
humidity, 12
I

S
safeguarded space stop, 11
delayed, 11
safety, 9
safety lamp, 11, 24
service, 18
space requirements, 7
standards, 9
structure, 5
T
temperature, 12
troubleshooting, 18
U
UL approved, 9
V

installation, 12

variants, 7, 23
velocity, 20

load, 12, 13
load diagrams, 14

weight, 7
working space
restricting, 11

M
maintenance, 18
manipulator colours, 23
mechanical interface, 17
motion, 19
mounting
extra equipment, 16
robot, 13
mounting flange, 17
N
noise level, 7
O
operating requirements, 12
options, 23
overspeed protection, 10
P
payload, 12
protection
foundry
clean room, 23

3HAC 9041-1

Rev.6

27

Index

28

Rev.6

3HAC 9041-1

3HAC 9041-1, Revision 6, en


ABB Automation Technologies AB
Robotics
S-721 68 VSTERS
SWEDEN
Telephone: +46 (0) 21 344000
Telefax:
+46 (0) 21 132592