View source for ABB IRB 140 - 6 Axes Robot

[[Category:Machines]]

[[File:ABB140.jpg| thumb |ABB IRB 140 (6 Axes Robot)]]

==Technical specifications==


*'''Model''': ABB IRB140 (IRC5)
*'''Number of axes''': 6
*'''Maximum reach''': 810 mm
*'''Payload''' : 6 kilograms

==Health & Safety==

==Machine Workflow==

- Turn on the switch on the controller

- Check if the robot is in manual mode

- Aknowledge any errors seen on the flexpendant

- Export your file in .PRG format and copy it in a USB

- Plug in the USB in the port on the flexpendant 

- FInd the USB folder and change it to old format (.PRG)

- Press the Guard stop and press the play button to initiate the file

==End Effectors==

*'''Small Pnuematic Gripper'''
 [[:File: Small_Pneumatic_Gripper.jpg]]
*'''Vacuum gripper'''
COVAL Suction Cups + Strong Vacuum

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8
 [[:File: Vacuum_Gripper.jpg]]
*'''Small Vacuum gripper'''
 [[:File: Small_Vacuum_Gripper.jpg]]
Reference Project: https://www.youtube.com/watch?v=umDp-AHn3uQ&feature=youtu.be
*'''Mini Spindle (External)'''
500W

Reference Project: https://www.youtube.com/watch?v=qibg02BErj8
 [[:File: Mini_Spindle.JPG]]
*'''External Driller'''
Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://iaac.net/project/fusta-robotica-otf-2015/
 [[:File: External_Driller.jpg]]
*'''Circular Saw N2 (External)'''
Hand Tool Installed on a Custom-made Stationary Position

Reference Project: https://www.youtube.com/watch?v=wzc0L7O3mSs&feature=youtu.be
 [[:File: CIRCULAR_SAW.jpg]]
*'''Extruder (Small)'''
Custom-made Pneumatic Extruder for Viscous Material 

Capacity: 1 liter

Nozzle sizes : 2mm / 4mm / 6mm / 8mm

 [[:File: Small_Extruder.jpg]]
*'''Measure Pin'''
 [[:File: MeasurePin.jpg]]
*'''Camera Holder'''
Reference Project: https://vimeo.com/showcase/3361210/video/91072422

==Robotic Processes==
*Pen Writing
*Pick & Place
*3D Scan
*Spraying
*Reverse Milling (to be combined with Pick&Place application)
*3D printing (plastic, clay, hydrogel...)


List of video of IAAC projects using a robot : 

https://vimeo.com/album/3361210

http://www.iaacblog.com/programs/courses/mrac/2018-2019-mrac/

==Maintenance==
==Downloads==

Manual:

https://search-ext.abb.com/library/Download.aspx?DocumentID=3HAC041346-001&LanguageCode=en&DocumentPartId=&Action=Launch