Product manual, spare parts

IRB 140
Trace back information:
Workspace Main version a79
Checked in 2014-10-01
Skribenta version 4.1.210
Product manual, spare parts
IRB 140 type C
IRB 140T type C
IRB 140-6/0.8 type C
IRB 140T-6/0.8 type C
IRC5

Document ID: 3HAC049099-001

Revision: A

Copyright 2014 ABB. All rights reserved.

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.
Additional copies of this manual may be obtained from ABB.
The original language for this publication is English. Any other languages that are
supplied have been translated from English.

Copyright 2014 ABB. All rights reserved.

ABB AB
Robotics Products
Se-721 68 Vsters
Sweden
 Table of contents

Table of contents
Overview of this manual ................................................................................................................... 7
Product documentation, IRC5 .......................................................................................................... 8

1 Spare parts - robot IRB 140 11

2 Options 21

3HAC049099-001 Revision: A 5
Copyright 2014 ABB. All rights reserved.
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 Overview of this manual

Overview of this manual

About this manual
This manual contains spare parts for:
IRB 140 and all its variants.

Usage
This manual shall be used as a complement to the product manual for IRB 140
during:
maintenance work
repair work.

Who should read this manual?

This manual is intended for:
maintenance personnel
repair personnel.

Prerequisites
A maintenance/repair/installation craftsman working with an ABB Robot must:
be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.

Organization of chapters
The manual is organized in the following chapters:
Chapter Contents
1 Rebuilding robot Information of rebuilding parts, required when
rebuilding the robot to another version.
2 Spare parts and exploded view Complete spare part list and complete list of robot
components shown in exploded views.

References

Reference Document Id
Product manual - IRB 140 3HAC027400-001
Circuit diagram - IRB 140 type C 3HAC6816-3

Revisions

Revision Description
- First edition
A Spare parts with color Graphite White are added to the spare part lists.

3HAC049099-001 Revision: A 7
Copyright 2014 ABB. All rights reserved.
Product documentation, IRC5

Product documentation, IRC5

Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
All documents listed can be ordered from ABB on a DVD. The documents listed
are valid for IRC5 robot systems.

Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
Safety information.
Installation and commissioning (descriptions of mechanical installation or
electrical connections).
Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
Repair (descriptions of all recommended repair procedures including spare
parts).
Calibration.
Decommissioning.
Reference information (safety standards, unit conversions, screw joints, lists
of tools).
Spare parts list with exploded views (or references to separate spare parts
lists).
Circuit diagrams (or references to circuit diagrams).

Technical reference manuals

The technical reference manuals describe reference information for robotics
products.
Technical reference manual - Lubrication in gearboxes: Description of types
and volumes of lubrication for the manipulator gearboxes.
Technical reference manual - RAPID overview: An overview of the RAPID
programming language.
Technical reference manual - RAPID Instructions, Functions and Data types:
Description and syntax for all RAPID instructions, functions, and data types.
Technical reference manual - RAPID kernel: A formal description of the
RAPID programming language.
Technical reference manual - System parameters: Description of system
parameters and configuration workflows.

Continues on next page

8 3HAC049099-001 Revision: A
Copyright 2014 ABB. All rights reserved.
 Product documentation, IRC5
Continued

Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
The purpose of the application (what it does and when it is useful).
What is included (for example cables, I/O boards, RAPID instructions, system
parameters, DVD with PC software).
How to install included or required hardware.
How to use the application.
Examples of how to use the application.

Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and trouble shooters.
The group of manuals includes (among others):
Operating manual - Emergency safety information
Operating manual - General safety information
Operating manual - Getting started, IRC5 and RobotStudio
Operating manual - Introduction to RAPID
Operating manual - IRC5 with FlexPendant
Operating manual - RobotStudio
Operating manual - Trouble shooting IRC5, for the controller and manipulator.

3HAC049099-001 Revision: A 9
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 1 Spare parts - robot IRB 140

1 Spare parts - robot IRB 140

Robot IRB 140, spare parts list
The items specified below are shown in the figures Robot IRB 140, exploded view
1 of 5 on page 16 to Robot IRB 140, exploded view 5 of 5 on page 20.

Item Article number Part Protection type Color Note

1 3HAC10470-1 Base spare
2 3HAC8999-1 Bottom plate
3 9ADA629-44 Torx pan head roll. screw M5x12
4 3HAC6599-1 Gasket bottom plate
5 3HAC17396-1 Serial measurement unit Contains serial measure-
ment board
3HAC031851-001 and
battery pack
3HAC16831-1.
5 3HAC031851-001 Serial measurement board DSQC 633A
5 3HAC046277-001 Serial measurement unit Contains serial measure-
ment board
3HAC044168-001 and
battery pack
3HAC044075-001.
5 3HAC044168-001 Serial measurement board RMU 101
6 3HAC16831-1 Battery pack (2-pole battery Lithium
contact) 34x102x63
Can only be used with
SMB unit 3HAC17396-1
containing SMB board
3HAC031851-001.
6 3HAC044075-001 Battery pack (3-pole battery RMU
contact) Lithium 7.2V 3.6Ah
Can only be used with
SMB unit 3HAC046277-
001 containing SMB
board 3HAC044168-001.
- 3HAC046686-001 SMB replacement set Contains all parts
needed if SMB unit
3HAC17396-1 shall be
replaced with SMB unit
3HAC046277-001.
7 21662055-6 Cable straps, outdoors 7.6x368
8 9ADA618-46 Torx pan head screw M5x20
9 3HAC9030-1 Cable bracket
10 3HAC9415-1 Clamp
11 3HAC6755-1 Cable holder
12 9ADA618-50 Torx pan head screw M5x40

Continues on next page

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1 Spare parts - robot IRB 140
Continued

Item Article number Part Protection type Color Note

13 3HAC10476-1 Control cable spare Standard ABB Orange L=3m
Foundry Plus
3HAC050468-001 Control cable spare Standard Graphite White L=3m
Foundry Plus
14 3HAC10477-1 Control cable spare Standard ABB Orange L=7m
Foundry Plus
3HAC050615-001 Control cable spare Standard Graphite White L=7m
Foundry Plus
15 3HAC7527-1 Damper axis 1
16 3HAB3402-52 Hex. socket head cap M10x35 8.8 Gleitmo 610
screw
17 3HAC7950-1 Washer
18 3HAC9860-1 Protecting plate
19 3HAC8466-1 Protective earth cable
20 3HAC9063-1 Hose clip D = 10
21 SK615 503-2 Membrane
22 K CBH-00 Bracket CBK
23 KP1-10B Pushbutton
24 3HAC7870-1 Gasket base-cover
25 9ADA290-1 Hexagon nut with flange M5
26 25291920-2 Plug R 1/8"
27 25222101-8 Protective hood D=11.4-13
28 3HAC8806-1 Clamp
29 3HAC7370-1 Cable harness IRB 140
31 21662055-3 Cable straps, outdoors 4.8x208
32 3HAC024474-001 Loctite 574
33 3HAC10470-3 Base, spare Clean Room
35 3HAC10477-2 Control cable Clean Room L=7m
36 3HAC11331-1 Control cable Standard L = 15 m
Foundry Plus
37 3HAC11331-2 Control cable CR L = 15 m
38 3HAC13089-1 Control cable Standard L = 30 m
Foundry Plus
39 3HAC13090-1 Control cable Standard L = 22 m
Foundry Plus
50 3HAC038547-001 Gearbox axes 1-2 Standard ABB Orange Item 67 incl.
Foundry Plus
3HAC038547-002 Gearbox axes 1-2 Standard Graphite White Item 67 incl.
Foundry Plus

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 1 Spare parts - robot IRB 140
Continued

Item Article number Part Protection type Color Note

51 3HAC10469-1 Motor with pinion Standard
Foundry Plus
3HAC021965-002 Motor with pinion Standard ABB Orange
Foundry Plus
3HAC021965-003 Motor with pinion Standard Graphite White
Foundry Plus
52 3HAB3409-25 Hex socket head cap screw M6x20 12.9 Gleitmo 610
53 9ADA312-6 Plain washer 6.4x12x1.6
54 21522012-426 O-ring 74.5x3
55 3HAC6788-1 Bearing hub
56 3HAC10478-1 Console spare Standard
Foundry Plus
57 3HAC10472-1 Cover console spare Standard ABB Orange Item 58 incl.
Foundry Plus
3HAC051282-001 Cover console spare Standard Graphite White Item 58 incl.
Foundry Plus
58 3HAC7868-1 Gasket console-cover
59 3HAC5894-1 Cable bracket T=1.5
60 3HAC6965-1 Sealing ring 150x189x8.5
61 3HAC3785-6 Parallel pin D = 6 m6 L = 16
62 3HAB3732-19 Sealing ring (V-ring) 85x11
63 9ADA618-55 Torx pan head screw M6x12
64 21662018-2 Clamp D = 11
65 3HAC10481-1 Connector bracket
66 21662055-1 Cable straps, outdoors 2.5x101
67 3HAC042471-001 Mobigear XP320
68 3HAC034936-001 Gearbox axes 1-2 Clean Room
69 3HAC10469-3 / Motor with pinion Clean Room
3HAC021966-001
70 3HAC10478-3 Console, spare Clean Room
71 3HAC10472-3 Cover console Clean Room
100 3HAC034936-001 Lower arm (axis 3) Item 67, 107 and 108 in-
cl.
101 3HAC10471-1 Cover, without lamp unit ABB Orange Item 103 incl.
3HAC050479-001 Cover, without lamp unit Graphite White Item 103 incl.
102 3HAC10474-1 Cover, with lamp unit ABB Orange Item 103 incl.
3HAC050265-001 Cover, with lamp unit Graphite White Item 103 incl.
103 3HAC7869-1 Gasket lower-arm cover
104 3HAC7866-1 / Rot. ac motor incl. pinion
3HAC021756-001

Continues on next page

3HAC049099-001 Revision: A 13
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1 Spare parts - robot IRB 140
Continued

Item Article number Part Protection type Color Note

105 3HAC6793-1 Timing belt
106 3HAC6762-1 Belt shield
107 3HAB3643-17 Groove ball bearing 80x100x10
108 3HAA2166-13 VK-Cover D = 100 B = 10
109 3HAC7880-1 Damper axis 2
110 3HAA2356-14 Washer SRKB 6.4x18x1.6
111 3HAB3402-15 Hex. socket head cap M5x20 8.8 Gleitmo 610
screw
112 9ADA312-5 Plain washer 5.3x10x1
113 3HAC9258-1 Indicator lamp
114 3HAC034935-001 Lower arm Foundry ABB Orange
3HAC034935-002 Lower arm Foundry Graphite White
115 3HAC10471-3 Cover, without lamp unit
116 3HAC10474-3 Cover, with lamp unit
150 3HAC026581-001 Upper arm compl. with Standard ABB Orange Motors included
wrist
3HAC026581-006 Upper arm compl. with Standard Graphite White Motors included
wrist
150 3HAC026581-003 Upper arm compl. with Clean Room White
wrist
151 3HAC027003-001 Wrist Standard ABB Orange Item 155, 181 and 182
Foundry incl.

151 3HAC027003-003 Wrist Standard Graphite White

Foundry
151 3HAC028059-002 Wrist Foundry Plus ABB Orange
151 3HAC050397-001 Wrist Foundry Plus Graphite White
151 3HAC026569-004 Wrist Clean Room White
152 3HAC025420-001 O-ring sealing plate
153 3HAB3409-37 Hex. socket head cap M8x25 12.9 Gleitmo 610
screw
154 9ADA312-7 Plain washer 8.4x16x1.6
155 25291920-2 Plug R 1/8"
157 3HAB3409-39 Hex. socket head cap M8x35 12.9 Gleitmo 610
screw
158 9ADA334-7 Spring washer, conical 8.4x18x2
159 3HAB3732-13 Sealing ring (V-ring) 99x10.5
160 3HAC7842-1 / Rot. ac motor with pinion
3HAC021757-001
161 3HAB3772-24 O-ring 29x3
162 Rot. ac motor with pinion
164 3HAC024360-001 Motor Console axes 5-6

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 1 Spare parts - robot IRB 140
Continued

Item Article number Part Protection type Color Note

167 3HAC7367-1 Cable holder
169 3HAC6779-1 Timing belt
170 3HAC6777-1 Timing Belt Pulley Z2/5
171 3HAC6778-1 Timing Belt Pulley Z2/6
173 3HAC7391-1 Belt shield
174 3HAC10473-1 Cover armhousing Item 175 incl.
175 3HAC7867-1 Gasket upper arm cover
176 3HAC7881-1 Damper axis 3
177 3HAC6761-1 Cable guide
178 3HAC7561-3 Dustcap for receptacles
12p
179 21252052-178 Distance bolt M5X55
180 3HAC6598-1 Hose nipple G 1/4"
181 3HAB8964-1 Damper axis 5
182 3HAC042564-001 Optimol Optigear BM 100
184 3HAC026569-003 Wrist Clean Room
Wash
186 3HAC10439-3 Cover armhousing Clean Room
187 3HAC036283-001 Cable protection

Continues on next page

3HAC049099-001 Revision: A 15
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1 Spare parts - robot IRB 140
Continued

Robot IRB 140, exploded view 1 of 5

3
19

3
20

9
28

10
31

11
23
3

22
39
38

21
37

12
36
35
34

26
13

8
8

25
R1/4
27

5
29
18

24

6
17

2
32

3
16
35 Nm
15
33
1

xx0600003264

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 1 Spare parts - robot IRB 140
Continued

Robot IRB 140, exploded view 2 of 5

xx0600003265

Continues on next page

3HAC049099-001 Revision: A 17
Copyright 2014 ABB. All rights reserved.
 18
Continued

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67 100 11 4 104 105 64 3 103 101 115 8 113 102 116

Do not loosen

xx0600003266
these screws
1 Spare parts - robot IRB 140

Robot IRB 140, exploded view 3 of 5

Do not loosen
these screws

3 11 0 109 18

66

Copyright 2014 ABB. All rights reserved.

17 16 35 Nm 108 107 112 111 4,1 Nm 106

Lower arm complete with cables

Lower arm (shown without cables) (shown without cover)

3HAC049099-001 Revision: A
 182 151 184 152 180 67 156 185 159 176

3HAC049099-001 Revision: A
xx0600003267
162 162 164 163 112
4.1 Nm
Robot IRB 140, exploded view 4 of 5

173
169

153 28 Nm 154 181

Copyright 2014 ABB. All rights reserved.

35 Nm 6 Nm
108 158 161 112 111 160

157 112 4.1 Nm 163

Upper arm (shown without cables)

112 4.1 Nm 111 169 112 163
4.1 Nm

175 8 174 186 12

19
1 Spare parts - robot IRB 140

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Continued
1 Spare parts - robot IRB 140
Continued

Robot IRB 140, exploded view 5 of 5

xx0600003268

20 3HAC049099-001 Revision: A
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 2 Options

2 Options
Force sensor package small
Equipment Art. no. Note
Force sensor package 3HAC046244-001
Force Sensor Small 3HAC046093-001
Sensor cable 5m 3HAC043521-001
Adapter plate 3HAC046107-001
Adapter plate 3HAC047790-001
Positioning ring 3HAC046099-001
Extension part 3HAC047791-001
Parallel pin 9ABA108-25
Parallel pin 9ABA108-34
Hex socket head cap screw 9ADA183-22 M6X10
Hex socket head cap screw 9ADA183-24 M6X16
Torx counters. head screw 9ADA625-44 M8X130

3HAC049099-001 Revision: A 21
Copyright 2014 ABB. All rights reserved.
Contact us

3HAC049099-001, Rev A, en
ABB AB
Discrete Automation and Motion
Robotics
S-721 68 VSTERS, Sweden
Telephone +46 (0) 21 344 400

ABB AS, Robotics

Discrete Automation and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 51489000

ABB Engineering (Shanghai) Ltd.

5 Lane 369, ChuangYe Road
KangQiao Town, PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666

www.abb.com/robotics