ABB IRB 14050 Product Specification

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ROBOTICS

Product specification

IRB 14050

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Page 1 ROBOTICS Product specification IRB 14050...
Page 2 Trace back information: Workspace 20D version a7 Checked in 2020-12-11 Skribenta version 5.3.075...
Page 4 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, damage to persons or property, fitness for a specific purpose or the like.
Page 5: Table Of Contents
Mounting tools to the vacuum module ............Maintenance and trouble shooting ................ 2.4.1 Introduction .................... Specification of variants and options Introduction to variants and options ..............Manipulator ...................... Floor cables ..................... Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 7: Overview Of This Specification
Sales and marketing personnel • Order and customer service personnel References Document name Document ID Product manual, spare parts - IRB 14050 3HAC064628-001 Product specification - IRB 14050 3HAC064627-001 Product manual - Grippers for IRB 14050 3HAC064626-001 Circuit diagram - IRB 14050...
Page 8 Published in release 20D. The following updates are done in this revision: • Added note about default configuration of emergency stop. • Warranty section updated. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 9: Description
1.1.1 Introduction to structure General The IRB 14050 is ABB Robotics first generation single arm robot with 7-axis, industrial robot, designed specifically for manufacturing industries that use flexible robot-based automation, e.g. 3C industry. The robot has an open structure that is especially adapted for flexible use, and can communicate extensively with external systems.
Page 10: Robot Description
1.1.1.1.1 Robot type description Type A of IRB 14050 The difference between IRB 14050 and IRB 14050 Type A is that the Type A has a reinforced design on the arm. As a result of this, the following parts differ between types: •...
Page 11 1 Description 1.1.1.1.1 Robot type description Continued Robot dimension xx1900001958 IRB 14050 (no-type-specified) IRB 14050 Type A 137 mm 146 mm Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 12 For a complete description on optional software, see the Product specification - OmniCore C line. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 14: The Robot
1 Description 1.1.2 The Robot 1.1.2 The Robot General The IRB 14050 can only be mounted on floor, wall and ceiling, no other mounting position is permitted. Robot Handling capacity (kg) Reach (m) IRB 14050 0.5 kg 0.559 m Manipulator weight...
Page 15 1 Description 1.1.2 The Robot Continued Dimensions Manipulator with rear connector interface 30.4 427.5 xx1800000592 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 16 1 Description 1.1.2 The Robot Continued Manipulator with bottom connector interface (option 3309-1) 427.5 xx1900001790 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 17 1 Description 1.1.2 The Robot Continued Robot arms xx1900001958 IRB 14050 (no-type-specified) IRB 14050 Type A 137 mm 146 mm Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 19: Safety
- General requirements Only robots with protection Clean Room. Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots. Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 20 Deviations from ISO 10218-1:2011 for IRB 14050 ISO 10218-1:2011 was developed with conventional industrial robots in mind. Deviations from the standard are motivated for IRB 14050 in the table below. More information about ISO 10218-1 compliance is given in technote_150918.
Page 21 Industrial robots and robot Systems - General safety require- ments ANSI/ESD S20.20:2007 Protection of Electrical and Electronic Parts, Assemblies and Equipment (Excluding Electrically Initiated Explosive Devices) Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 22: Safety Functions
The FlexPendant is always equipped with a three-position en- device abling device, but for the IRB 14050 system the enabling device is not used. Therefore the enabling device is disabled and in- active when the FlexPendant is connected to an IRB 14050 system, but it is enabled and active when connected to another robot.
Page 23: Installation
1 Description 1.3 Installation 1.3 Installation Introduction to installation IRB 14050 is intended for use in industrial environment. An arm can handle a maximum payload of 0.5 kg. Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G...
Page 24: Operating Requirements
Relative humidity Description Relative humidity Complete robot during operation, transportation and Max. 85% at constant temperature storage Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 25: Mounting The Manipulator
Torque z ±12.32 Nm ±14.83 Nm xx1700002300 Force in the X plane Force in the Y plane Force in the Z plane Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 26 These forces and torques are extreme values that are rarely encountered during operation. The values also never reach their maximum at the same time! Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 27 Suitable screws M10x25 Suitable washers 10.5x20x2 Quantity 4 pcs Quality Guide pins 2 pcs, article number 3HNP00449-1 Tightening torque 40 Nm Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 28 Cable inlet reserved for customer signals which is connected from the I/O module inside base. R1.MP Transfers drive power from the drive units in the control cabinet to the robot motors. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 30: Load Diagram
1 Description 1.4.2 Load diagram 1.4.2 Load diagram IRB 14050 - 0.5/0.5 (without gripper) 0,20 0,15 0,3 kg 0,4 kg 0,10 0,5 kg 0,05 0,00 0,00 0,05 0,10 L - (m) xx1500000097 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G ©...
Page 31 13.9 mm The load diagram with gripper is an example, given for the heaviest combination of IRB 14050 Gripper options (servo + 2 vacuum modules), including fingers and suction tools. Actual load capacity should be determined from the robot load diagram and the mass data of the actual gripper and end effectors.
Page 32: Maximum Load And Moment Of Inertia
(position of center of gravity) within the load diagram, since those also are limited by main axes torques as well as dynamic loads. Also arm loads will influence the permitted load diagram, contact your local ABB organization. Robot variant...
Page 33: Mounting Of Equipment
Below is an overview of the robot and tool flange, see Tool flange on page 34 details. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 34: Tool Flange
24V and Ethernet or IO Outer diam. 7.5e8 and inner diam. 4.4F10 for air hose Calibration mark for axis 6 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 35 R28.3 7.5 e8 13.6 4x 2.9 4x 5.5 J - J xx1500000098 Description Dimensions air hose Mill-Max (430-10-208-00-240000), spring-loaded header, double row 8 pad connector Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 36: Calibration
This is printed on the robot name plate for each robot. The robot must be in the correct mounting position when it is recalibrated for absolute accuracy. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 37: Fine Calibration
Fine calibration is made by moving the axes so that the synchronization mark on each joint is aligned, and running the CalHall routine. For detailed information on calibration of the robot see Product manual - IRB 14050. DETAIL Syn Axis 1...
Page 38: Absolute Accuracy Calibration
A robot with Absolute Accuracy calibration has a label with this information on the manipulator. Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 39 Precision and tolerances Typical production data regarding absolute accuracy calibration are: Robot Global absolute accuracy (mm) Average % Within 1 mm IRB 14050 - 0.5/0.5 Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 40: Maintenance And Troubleshooting
The maintenance intervals depend on the use of the robot, the required maintenance activities also depends on selected options. For detailed information on maintenance procedures, see Maintenance section in the Product Manual. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 41: Robot Motion
-290° to +290° Axis 5 Wrist - Bend motion -88° to +138° Axis 6 Flange - Rotation motion -229° to +229° Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 42 Illustration, working range IRB 14050 The illustrations show the unrestricted working range of the robot. Front view xx1700002305 Side view xx1700002306 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 43 1 Description 1.8.1 Working range and type of motion Continued Top view R559 R559 R559 R559 xx1700002307 Isometric view xx1700002308 Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 44: Performance According To Iso 9283
0.02 Linear path repeatability, RT (mm) 0.10 Linear path accuracy, AT (mm) 1.36 Pose stabilization time, Pst (s) within 0.1 mm of the position 0.37 Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 45: Velocity
400 °/s 400 °/s 400 °/s Supervision is required to prevent overheating in applications with intensive and frequent movements. Resolution Approximately 0.01° on each axis. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 46: Stopping Distance / Time
0.37 0.40 0.40 Note Axes 4, 5, and 6 may have small residual movements after the stop due to the influence of gravity and inertia. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 47: Customer Connections
On each flange, only one of Ethernet and IO signals can be used at the same time. When selecting the IRB 14050 SmartGrippers, Ethernet will be used, and the Tool IO signals on XP12 are not available on the flange. The Tool IO signals, on the other hand, can be used when integrating a basic pneumatic or electric gripper that is controlled by a small number of IO signals, and that is not Ethernet-based.
Page 48 EtherNet RD+ (Max current = 2A, when not used as Ethernet signals) EtherNet TD+ (Max current = 2A, when not used as Ethernet signals) Spare 0V, IO 24V, IO (Max current = 1 A/arm) Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 49: Grippers
2.1.1 Introduction General The IRB 14050 gripper is a smart, multifunctional gripper for part handling and assembly. The gripper has one basic servo module and two optional functional modules, vacuum and vision. The three modules can be combined to provide five different combinations for users in different applications.
Page 50: Function Modules
Vision The vision module contains a Cognex AE3 In-Sight camera, supporting all functions of ABB Integrated Vision. The three function modules can be combined into five different possibilities as listed in the following table.
Page 51 2 Grippers 2.1.2 Function modules Continued Combination views Servo The following figure illustrates the gripper with one servo module. xx1400002137 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 52 2.1.2 Function modules Continued Servo + Vacuum The following figure illustrates the gripper with one servo module and one vacuum module. xx1400002138 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 53 Servo + Vacuum 1 + Vacuum 2 The following figure illustrates the gripper with one servo module and two vacuum modules. xx1400002139 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 54 2.1.2 Function modules Continued Servo + Vision The following figure illustrates the gripper with one servo module and one vision module. xx1400002140 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 55 2.1.2 Function modules Continued Servo + Vision + Vacuum The following figure illustrates the gripper with one servo module, one vacuum module and one vision module. xx1400002141 Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 56: Technical Data
Servo + Vacu- 0.00020 0.00024 0.00011 0.00025 0.00029 0.00012 um 1 + Vacuum Servo + Vision 0.00017 0.00019 0.00008 0.00021 0.00023 0.00008 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 57 [ TRUE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.262, [7.8, 11.9, 50.7], [1, 0, 0, 0], 0.00022, 0.00024, 0.00009] ] Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 58 Note: Dimensions of CoG in the brackets are without the fingers and suction tools Getting-started finger length Travel length: 0-50 mm Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 59 Power consumption The gripper is powered by 24 V DC and the maximum power consumption of the whole gripper is 9 W. Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 60 Camera, dimensions on page 18,5 37.5 (84) xx1500000106 Description Travel length = 0 - 50 mm Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 61: Servo Module
Load diagram The following figures show the relationship between the maximum allowed gripping force and gripping point to the finger flange. xx1500000792 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 62 Length from the gripping point to the finger flange, in unit of mm The following figures show the relationship between the maximum allowed external force and gripping point to the finger flange. xx1500000798 Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 63 The servo module is calibrated by RAPID instructions or using the FlexPendant interface. For details, see the section IRB 14050 gripper FlexPendant application and chapter RAPID references in Product manual - Grippers for IRB 14000. Product specification - IRB 14050 3HAC064627-001 Revision: G ©...
Page 64: Vacuum Module
Blow-off actuator To minimize cycle time and ensure accurate drop-off of the picked objects, a blow-off actuator is integrated in the vacuum module. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 65: Vision Module
ABB Integrated vision or Cognex In-Sight Explorer Camera, dimensions The following figure shows the dimension of the Cognex AE3 camera. xx1500001395 Description Internal illumination Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 67: Fingers
Design requirements for customized fingers Except for the two getting-started fingers delivered together with the IRB 14050 gripper, it is also possible for users to customize fingers based on actual requirements. When designing fingers, the following requirements should be met: •...
Page 68: Installation
5-6 bar air input. Before the air input, ensure that the input air is filtered and clean. Relative humidity Description Relative humidity Complete gripper during operation, transportation and 85% at constant temperature storage (gaseous only) Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 69: Recommended Standard Tightening Torque
Tightening torque (Nm) on metal Tightening torque (Nm) on plastic M1.2 0.05 M1.6 (12.9 class 0.25 carbon steel screw) M1.6 (stainless 0.05 steel screw) 0.25 M2.5 0.45 0.45 Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 70: Mounting The Gripper
Three M2.5 holes and one guide pin are used to assemble the gripper to the arm tool flange. xx1500000126 Description Recommended screws, three M2.5 x 8 Air hose 8-pin connector (spring-loaded) Guide pin Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 71 The pins of the connector (shown as C in the preceding figure) are defined as follows. xx1500000796 Description EtherNet RD- EtherNet TD- EtherNet RD+ EtherNet TD+ Spare 0V, IO 24V, IO Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 72 Hole configuration, mounting base The following figure shows the hole configuration when assembling the gripper to the arm tool flange. xx1500000793 Description Stroke = 1 mm Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 73: Mounting The Fingers
Hole configuration, finger flange The following figures show the hole configuration and main dimensions of the finger flanges. xx1500000794 Description Position of the maximum displacement Maximum hole depth Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 74: Mounting Tools To The Vacuum Module
Any tools mounted to the gripper must be included in the final risk assessment by the system integrator. Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 75 The following figure shows the hole configuration and tool interface of the vacuum module. xx1500000795 Description Length from the center to the outer shell surface Length from the center to the inner shell surface Shell hole diameter Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 76: Maintenance And Trouble Shooting
The maintenance intervals depend on the use of the gripper, and the required maintenance activities also depend on the selected options. For detailed about the maintenance procedures, see the Maintenance chapter in the Product manual - Product.ProductName. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 77: Specification Of Variants And Options
3.1 Introduction to variants and options General The different variants and options for the IRB 14050 are described in the following sections. The same option numbers are used here as in the specification form. The variants and options related to the robot controller are described in the product specification for the controller.
Page 78: Manipulator
Second gripper Vacuum 2 Option Type Description 1518-1 Vacuum 2 Requires: Servo [1516-1] and Vacuum 1 [1517-1], Not together with: Vision [1519-1] Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 79 Servo + integrated vision camera + one vacuum unit Robot cabling routing Option Description 3309-1 Under the base 3309-2 From side of base Continues on next page Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 80 Continued Warranty For the selected period of time, ABB will provide spare parts and labour to repair or replace the non-conforming portion of the equipment without additional charges. During that period, it is required to have a yearly Preventative Maintenance according to ABB manuals to be performed by ABB.
Page 81: Floor Cables
3203-5 CN mains cable, 3 m Cable assembly with CPCS-CCC line-side plug. 3203-6 AU mains cable, 3 m Cable assembly with AS/NZS 3112 line-side plug. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 82 FlexPend Ext Cable 15m 3111-1 Independent Axis 3017-2 FlexPend Ext Cable 22m 3123-1 Path Corrections 3017-3 FlexPend Ext Cable 30m 3100-1 Advanced robot motion 3038-1 Force Control Interface Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 83 • Signal lamp • Stationary camera Note Cognex In-Sight Micro 1402 is a stationary camera specific to IRB 14050. See Product specification - Integrated Vision. Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 84 This page is intentionally left blank...
Page 85 Absolute Accuracy, 36 standard warranty, 80 CalibWare, 36 stock warranty, 80 Cartesian speed supervision, 22 compensation parameters, 38 variants, 77 options, 77 warranty, 80 Product specification - IRB 14050 3HAC064627-001 Revision: G © Copyright 20192020 ABB. All rights reserved.
Page 88 SHANGHAI 201319, China Telephone: +86 21 6105 6666 ABB Inc. Robotics & Discrete Automation 1250 Brown Road Auburn Hills, MI 48326 Telephone: +1 248 391 9000 abb.com/robotics © Copyright 20192020 ABB. All rights reserved. Specifications subject to change without notice.

ABB IRB 14050 Product Specification

1 Description

2 Grippers

3 Specification of Variants and Options

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Troubleshooting

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