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, Foundry Plus 2, Clean Room and Wash versions, all mechani-cal 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 mecha-nism 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 140 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 wash-able. Also available in white Clean Room ISO class 6 version, making it especially suited for environments with stringent cleanliness standards.

Specification

Robot versions              Handling capacity       Reach of  5th axis          Remarks 

IRB 140/IRB 140T                   6 kg                        810 mm

IRB 140F/IRB 140TF               6 kg                        810 mm                 Foundry Plus 2 Protection

IRB 140CR/IRB 140TCR         6 kg                         810 mm                Clean Room

IRB 140W/IRB 140TW             6 kg                         810 mm                SteamWash Protection

Supplementary load (on upper arm alt. wrist):  on upper arm: 1 kg / on wrist: 0.5 kg

Number of axes

Robot manipulator: 6

External devices: 6

Integrated signal supply: 12 signals on upper arm

Integrated air supply: Max. 8 bar on upper arm

IRC5 Controller variants: Single cabinet, Dual cabinet, Compact, Panel mounted.

Performance

Position repeatability:  0.03 mm (average result from ISO test)

Axis movement          Axis        Working range

                                   1               360°

                                   2               200°

                                   3               280°

                                   4               Unlimited (400° default)

                                   5               240°

                                   6               Unlimited (800° default)

Max. TCP velocity                       2.5 m/s

Max. TCP acceleration                20 m/s²

Acceleration time 0-1 m/s            0.15 sec

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

*) Max velocity is reduced at single phase power supply, e.g. Compact controller. Please, see the Product specification for further details.

Cycle time

5 kg Picking side                   IRB 140               IRB 140T

cycle 25 x 300 x 25 mm           0.85s                   0.77s

Electrical Connections

Supply voltage: 200–600 V, 50/60 Hz

Rated power

Transformer rating: 4.5 kVA

Power consumption typicly:  0.4 kW

Physical

Robot mounting:  Any angle

Dimensions:  Robot base:  400 x 450 mm

                      Robot controller (H x W x D): 950 x 800 x 620 mm

Weight: Robot manipulator:  98 kg