ABB IRB 140 Product Manual page 57

Lifting and turning the robot
The procedure details how to lift and turn the robot for installation on a wall or
inverted.
1
2
3
4
5
Product manual - IRB 140
3HAC027400-001 Revision: V
Action
Move axis-2 to approximately -20º and axis-3 to
approximately +50º.
Remaining axes can be positioned as suitable,
depending on equipment installed on the robot.
Rig the lifting sling as a choker hitch by passing
the lifting sling around the axis-2 gearbox, under-
neath the axis-2 damper, then through itself, then
attaching it to the overhead crane or fork lift.
The figure shows the principle of a choker hitch.
xx1400000730
If necessary, use an extra lifting sling to lengthen
the reach between the sling and the overhead
crane/fork lift.
To facilitate the installation of the slings, the axis-
2 damper can be removed temporarily.
Rig the lifting sling as a choker hitch by passing
the lifting sling around the lower arm shaft, then
through itself, then attaching it to the overhead
crane or fork lift.
If necessary, use an extra lifting sling to lengthen
the reach between the sling and the overhead
crane/fork lift.
Loosen the robot from the foundation.
CAUTION
The IRB 140 type C robot weighs 100 kg.
All lifting accessories used must be sized accord-
ingly!
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation and commissioning
2.3.2 Lifting and turning the manipulator
Note
xx1600000348
xx1600000347
Continues on next page
Continued
57