Robotics - 1 Feb.

2008-

IRB 140 presentation

 IRB140 Small and powerful

The smallest 6 axis robot

in the ABB robot range
Outstanding motion
technology and excellent
path accuracy, as well as
being highly robust
A multi purpose robot
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 A powerful 6 axis robot
Supplementary load
on wrist 0.5 kg

70 mm
Supplementary
load on upper
80 mm
arm 1 kg

6 kg

Payload 6 kg
Reach 0.81 m
Pos. repeatability 0.03 mm
Turbo variant available
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 IRB 140T turbo

Cycle-times are considerably

reduced
Reductions between 15-20 % are
possible using pure axis 1 and 2
movements.
Well suited for packing
applications and guided
operations together with
PickMaster.
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 Top 5 sales arguments

Very short cycle times

Very reliable due to robust
design
Outstanding accuracy with
TrueMove 2nd generation
Can be mounted at any
angle
Built for real life
Unique protection variants
for a small robot
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 Very short cycle times

Precise dynamic model for

serial robot
Advanced servo control
On-line optimization of robot
speed and acceleration
Outstanding in short and
medium movements
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Competition
Sometimes higher axis speed
but lower acceleration and
deceleration, which means
longer cycle times.
 Very reliable due to rubust design

Rigid structure+fast brakes Competition

+collision detection software =
High collision resistance
Less collision resistant due to
weaker structures
Spur gears for high accuracy
Compact gears less robust
Fully integrated cable harness
Less collision resistant due to
Media integrated up to upper
less accurate dynamic model
arm (IO, air, power)
MTBF 204,000 h for manipulator
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 Outstanding Accuracy
Rigid steel structure, hardly Competition
affected by thermal expansion Less accurate dynamic models.
Speed dependant path accuracy
TrueMove 2nd generation
need for adjustments and
technology ensures leading modifications
accuracy for path, position and Aluminium and plastic structures
speed which are less rigid
Crucial in all applications with
demand on precision
Backlash eliminators (axis 1, 2
and 3) secure the path following
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 Accuracy test made at 1,000 mm/s

Path XY: mc6 (red/green), decbuf (blue/black) Without TrueMove

and QuickMove
360

350

340

330
y [mm]

With 2nd
320
generationTrueMove
and QuickMove
310

300

290

518 520 522 524 526 528 530

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x [mm]
 Can be mounted at any angle
IRB 140 has a long reach backwards and forwards
IRB 140 can be mounted in any angle
No limitation on axis 1 when wall mounted
Easily positioned in the robot cell or inside a machine
Full work area regardless of mounting position
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 Designed for Real Life

Maximum payload, wrist load,

and arm load at the same time
Built to work with max. payload
and full speed continuously in
process applications Competition
Increased arm load reduces
payload capacity
Cannot work continuously with
max payload and speed
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 Unique protection for a small robot
FoundryPlus - protection for harsh environments
Wash protection for food industry
Clean room protection (Clean Room 10 FS/ 4 ISO)
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 FoundryPlus

Completely fulfills the IP67

standard.
It withstands lubricants and
cooling liquids
It continues to function flawlessly
even when completely covered
with sand
It withstands aluminum spits and
splashing as well as fluid
aluminum
It is washable with hot steam
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 Wash

Needed in the food industry where all

equipment has to be thoroughly washed
daily
Painted with two component epoxy paint
Chemical nickel-plated turning disc to
increase the resistance against corrosion
IP 67
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 Clean room
Demand from the pharmaceutical industry,
solar cell manufacturing, electronics
industry, etc
IP67
Clean Room 10 FS/ 4 ISO
FS 10 =Max. 10 particles larger than 0.5
microns are allowed per cubic feet of air

The only robot on the market

both Clean room (10)
and steam washable (IP67)
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 Protections vs competition

ABB Fanuc Motoman Kuka

IRB 140 LR Mate 200iC HP5 KR5

IP-class IP67 IP65 Wrist IP67 IP40

Protection FoundryPlus Waterproof - Dust and water-
Clean room 10 Clean room 100 spray resistant
Wash
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 Main applications

Other
Dispense/coating Welding (laser and arc)

Assembly
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Material handling/Machine tending

 IRB 140 in the Metal Fabrication

Material handling between operations

Laser welding
Arc welding
Inspection
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Inspection of final parts

 IRB 140 in the Consumer industry

Picking
Packing
Material Handling

Handling small bottles of snaps

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Packing of cheese
 IRB 140 in Consumer Electronics

Laser welding
High speed and high accuracy
Clean room 10
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 IRB 140 in the Plastics industry

Loading/Unloading
6 kg load capacity for double gripper
6 axes for high accessibility
Mounting on top of small Injection Moulding Machine
Material Handling
Assembly
Deburring
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 IRB 140 in Foundries

Die Spraying
Extraction
Mounting at
any angle
6kg payload unique Flexible cell solution by partner Evolut
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 IRB 140 and its competitors

ABB Fanuc Motoman Kuka

IRB 140 LR Mate 200iC HP5 KR5

Payload 6 kg 5 kg 5 kg 5 kg
Reach 810 mm 700 mm 701 mm 855 mm
Repeat- 0.03 0.02 0.03 0.03
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ability
 Strongest Robot in Class

High moment of inertia capability.

Important in applications with large work
objects and reorientations of the wrist,
e.g press brake tending
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 IRB140 - Summary
6 kg load capacity
plus supplementary
0.5 kg on wrist and Small size,
1 kg on upper arm large working range
6 axis
Small, robust and powerful,
suitable for a variety of
applications
Floor, wall and
inverted mounted
- at any angle

Low noise level Foundry Plus

- IP 67
- Wash
Clean room 10
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