IRB 140 Industrial Robot

IRB 140 Industrial Robot
Robotics
IRB 140
Industrial Robot
Main Applications
Arc welding
Assembly
Cleaning/Spraying
Machine tending
Material handling
Packing
Deburring
Small, Powerful and Fast
Compact, powerful IRB 140 industrial robot.
Six axis multipurpose robot that handles payload of 6 kg,
with long reach (810 mm). The IRB 140 can be floor mounted,
inverted or on the wall in any angle. Available as Standard,
Foundr Plus 2, Clean Room and Wash versions, all mechanical arms completely IP67 protected, making IRB 140 easy to
integrate in and suitable for a variety of applications. Uniquely
extended radius of working area due to bend-back mechanism of upper arm, axis 1 rotation of 360 degrees even as
wall mounted.
The compact, robust design with integrated cabling adds to
overall flexibility. The Collision Detection option with full path
retraction makes robot reliable and safe.
Using IRB 140T, cycle-times are considerably reduced where
axis 1 and 2 predominantly are used.
Reductions between 15-20 % are possible using pure axis
1 and 2 movements. This faster versions is well suited for
packing applications and guided operations together with
PickMaster.
IRB Foundry Plus 2 and Wash versions are suitable for operating in extreme foundry environments and other harch environments with high requirements on corrosion resistance and
tightness. In addition to the IP67 protection, excellent surface
treatment makes the robot high pressure steam washable.
The white-finish Clean Room version meets Clean Room class
10 regulations, making it especially suited for environments
with stringent cleanliness standards.
IRB 140
Electrical Connections
Supply voltage
Robot versions
Handling Reach of
Remarks
capacity 5th axis
Rated power
IRB 140/IRB 140T
6 kg
IRB 140F/IRB 140TF
810 mm
200–600 V, 50/60 Hz
Transformer rating
4.5 kVA
0.4 kW
6 kg
810 mm
Foundry Plus 2 Protection
Power consumption typicly
IRB 140CR/IRB 140TCR 6 kg
810 mm
Clean Room
Physical
IRB 140W/IRB 140TW
810 mm
Wash Protection
Robot mounting
6 kg
Any angle
Dimensions
on upper arm
1 kg
Robot base
400 x 450 mm
on wrist
0.5 kg
Robot controller H x W x D
950 x 800 x 620 mm
Number of axes
.
Supplementary load (on upper arm alt. wrist)
© Copyright ABB Robotics. PR10031EN_R10 April 2010
Specification
Weight
Robot manipulator 6
External devices
6
Environment
Robot manipulator
Integrated signal supply 12 signals on upper arm
Ambient temperature for
Integrated air supply
Max. 8 bar on upper arm
Robot manipulator
IRC5 Controller variants: Single cabinet, Dual cabinet, Compact,
Relative humidity
Degree of protection,
Panel mounted
98 kg
5 – 45°C
Max. 95%
Performance
Manipulator
IP67
Position repeatability 0.03 mm (average result from ISO test)
Options
Foundry Plus 2
Axis movement
Axis
Working range
Wash (High pressure steam washable)
1, C Rotation
360°
Clean Room, class 6
2, B Arm
200°
(certified by IPA)
3, A Arm
280°
Noise level
Max. 70 dB (A)
4, D Wrist
Unlimited (400° default)
Safety Double circuits with supervision,
5, E Bend
240°
emergency stops and safety
6, P Turn
Unlimited (800° default)
functions,
Max. TCP velocity 2.5 m/s
3-position enable device
Max. TCP acceleration 20 m/s2
Emission
EMC/EMI-shielded
Acceleration time 0-1 m/s
0.15 sec
Data and dimensions may be changed without notice
Velocity
Axis no.
IRB 140
IRB 140T
1
200°/s
250°/s
2
200°/s
250°/s
3
260°/s
260°/s
4
360°/s
360°/s
5
360°/s
360°/s
6
450°/s
450°/s
Working range
L-distance (mm)
350
0
0
50
100
150
350
200
250
300
0
200
150
100
IRB 140T
2 kg
0.77s
3 kg
4 kg
100
6 kg
Z-distance (mm)
0.85s
5 kg
150
4 kg
200
1,5 kg
2 kg
150
3 kg
4 kg
100
250
6 kg
3 kg
100
150
200
810
670
70
1092
486
670
352
712
70
70
380
810
65
151
486
70
670
810
486
352
712
1092
www.abb.com/robotics
300
50
100
150
L-distance (mm)
65
352
200
250
6 kg
0
250
L-distance (mm)
380
50
0
300
50
150
5 kg
0
0
6,5 kg
100
200
5 kg
50
50
50
250
6,5 kg
Z-distance (mm)
IRB 140
cycle 25 x 300 x 25 mm Z-distance (mm)
5 kg Picking side 1,5 kg
Z-distance (mm)
50
250
Cycle time
0
300
300
1092
200
250
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