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IRB 140
ABB IRB 140 Product Manual
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ABB IRB 140 Product Manual
Also see for IRB 140:
Instructions
Product manual
Table of content
Contents
Table Of Contents
Table Of Contents
Table Of Contents
Overview of this manual
Product documentation, M2004
How to read the product manual
Safety
General safety information
Safety in the manipulator system
Safety risks
CAUTION - Hot parts may cause burns
Safety risks related to tools/work pieces
Safety risks related to pneumatic/hydraulic systems
Safety risks during operational disturbances
Risks associated with live electric parts
Safety actions
Fire extinguishing
Emergency release of the manipulator's arm
Brake testing
Risk of disabling function "Reduced speed 250 mm/s
Safe use of the FlexPendant
Work inside the manipulator's working range
Safety stops
Safety related instructions
Safety symbols on manipulator labels
DANGER - Moving manipulators are potentially lethal
DANGER - First test run may cause injury or damage
DANGER - Make sure that the main power has been switched off
WARNING - The unit is sensitive to ESD
WARNING - Safety risks during handling of batteries
WARNING - Safety risks during work with gearbox lubricants (oil or grease)
Installation and commissioning
Unpacking
Working range, IRB 140
Risk of tipping/stability
On-site installation
Lifting and turning the manipulator
Manually releasing the brakes
Orienting and securing the manipulator
Fitting equipment on manipulator
Loads
Setting the system parameters for a suspended robot
Bolt pattern
Installation of signal lamp (option)
Restricting the working range
Electrical connections
Maintenance
Maintenance schedules
Maintenance schedule
Inspection activities
Inspection, robot cabling
Inspection, timing belts
Cleaning activities
Changing/ replacing activities
Changing the oil in axes 5 and 6 gearboxes
Repair
General procedures
Mounting instructions for seals
Replacing parts on Clean Room robots
Complete robot
Replacement of complete upper arm
Replacement of complete lower arm
Replacement of base
Upper arm
Replacing the damper, axis 3
Replacement of damper, axis 5
Replacement of cover, arm housing
Lower arm
Replacing the damper, axis 2
Frame and base
Replacement of console
Replacing the serial measurement unit and the battery pack
Replacement of control cable
Motors
Replacement of motor, axis 2
Replacement of motor and timing belt, axis 3
Replacement of motor, axis 4
Replacement of motor and timing belt, axes 5 or 6
Adjustments and measurements
Measuring the gear play, axis 6
Gearboxes
Service work on gearbox, axis 4
Amount of oil
Calibration information
Calibration methods
Calibration scale and correct axis position
Calibration movement directions for all axes
Updating revolution counters
Checking the calibration position
Decommissioning
Robot description
Reference information
Applicable safety standards
Unit conversion
Screw joints
Weight specifications
Standard tools
Special tools
Performing a leak-down test
Lifting accessories and lifting instructions
Spare part lists
Spare parts - robot IRB 140
Circuit diagram
Index
2.3.2 Lifting and turning the manipulator
Recommendation
Use lifting slings to lift the manipulator. See
Lifting the manipulator with lifting
slings on page 61
.
For more information contact ABB.
62
3HAC027400-001 Revision: K
© Copyright 2004-2013 ABB. All rights reserved.
2 Installation and commissioning
2.3.2 Lifting and turning the manipulator
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This manual is suitable for:
IRB 140
IRB 140-6/0.8
IRB 140T
IRB 140T-6/0.8
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