ABB IRB 14050 Owner's manual

ROBOTICS
Product specification
IRB 14050

Trace back information:
Workspace 20D version a7
Checked in 2020-12-11
Skribenta version 5.3.075

Product specification
IRB 14050
Document ID: 3HAC064627-001
Revision: G
© Copyright 20192020 ABB. All rights reserved.
Specifications subject to change without notice.

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, damage 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.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 20192020 ABB. All rights reserved.
Specifications subject to change without notice.

Table of contents
7Overview of this specification ..........................................................................................................
91 Description
91.1 Structure ......................................................................................................... 91.1.1 Introduction to structure ........................................................................... 101.1.1.1 Robot description ........................................................................ 141.1.2 The Robot .............................................................................................. 191.2 Safety ............................................................................................................. 191.2.1 Applicable standards ............................................................................... 221.2.2 Safety functions ...................................................................................... 231.3 Installation ....................................................................................................... 241.3.1 Operating requirements ............................................................................ 251.3.2 Mounting the manipulator ......................................................................... 291.4 Load diagram ................................................................................................... 291.4.1 Introduction to load diagram ...................................................................... 301.4.2 Load diagram ......................................................................................... 321.4.3 Maximum load and moment of inertia .......................................................... 331.5 Mounting of equipment ....................................................................................... 331.5.1 General ................................................................................................. 341.5.2 Tool flange ............................................................................................. 361.6 Calibration ....................................................................................................... 361.6.1 Calibration methods ................................................................................. 371.6.2 Fine calibration ....................................................................................... 381.6.3 Absolute Accuracy calibration ................................................................... 401.7 Maintenance and troubleshooting ......................................................................... 401.7.1 Introduction to maintenance and trouble shooting ......................................... 411.8 Robot motion .................................................................................................... 411.8.1 Working range and type of motion .............................................................. 441.8.2 Performance according to ISO 9283 ............................................................ 451.8.3 Velocity ................................................................................................. 461.8.4 Stopping distance / time ........................................................................... 471.9 Customer connections .......................................................................................
492 Grippers
492.1 Structure ......................................................................................................... 492.1.1 Introduction ............................................................................................ 502.1.2 Function modules .................................................................................... 562.2 Technical data .................................................................................................. 562.2.1 General ................................................................................................. 612.2.2 Servo module ......................................................................................... 642.2.3 Vacuum module ...................................................................................... 652.2.4 Vision module ......................................................................................... 672.2.5 Fingers .................................................................................................. 682.3 Installation ....................................................................................................... 682.3.1 Operating requirements ............................................................................ 692.3.2 Recommended standard tightening torque ................................................... 702.3.3 Mounting the gripper ................................................................................ 732.3.4 Mounting the fingers ................................................................................ 742.3.5 Mounting tools to the vacuum module ......................................................... 762.4 Maintenance and trouble shooting ........................................................................ 762.4.1 Introduction ............................................................................................
773 Specification of variants and options
773.1 Introduction to variants and options ...................................................................... 783.2 Manipulator ...................................................................................................... 813.3 Floor cables .....................................................................................................
Product specification - IRB 14050 5
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© Copyright 20192020 ABB. All rights reserved.
Table of contents

823.4 Unlisted options ................................................................................................
834 Accessories
85Index
6 Product specification - IRB 14050
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© Copyright 20192020 ABB. All rights reserved.
Table of contents

Overview of this specification
About this product specification
It describes the performance of the manipulator or a complete family of manipulators
in terms of:
• The structure and dimensional prints
• The fulfilment of standards, safety and operating requirements
• The load diagrams, mounting of extra equipment, the motion and the robot
reach
• The specification of variants and options available
The product specification also contains information for the controller.
Usage
Product specifications are used to find data and performance about the product,
for example to decide which product to buy. How to handle the product is described
in the product manual.
Users
It is intended for:
• Product managers and product personnel
• Sales and marketing personnel
• Order and customer service personnel
References
Document IDDocument name
3HAC064628-001Product manual, spare parts - IRB 14050
3HAC064627-001Product specification - IRB 14050
3HAC064626-001Product manual - Grippers for IRB 14050
3HAC064375-009Circuit diagram - IRB 14050
3HAC031045-001Safety manual for robot - Manipulator and IRC5 or OmniCore con-
troller i
3HAC042927-001Technical reference manual - Lubrication in gearboxes
3HAC060860-001Product manual - OmniCore C30
3HAC066553-001Technical reference manual - Event logs for RobotWare 7
3HAC065041-001Technical reference manual - System parameters
3HAC070208-001Application manual - Discrete I/O
3HAC066561-001Application manual - Conveyor tracking
iThis manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Revisions
DescriptionRevision
First edition.A
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Product specification - IRB 14050 7
3HAC064627-001 Revision: G
© Copyright 20192020 ABB. All rights reserved.
Overview of this specification

DescriptionRevision
Published in release 19C. The following updates are done in this revision:
• Updated the section of Functional safety. See Functional safety
on page 22.
B
Published in release 19D. The following updates are done in this revision:
• Minor changes.
• Added the section Unlisted options. See Unlisted options on
page 82.
• Updated dimension figure and base hole configuration figure.
• Added the introduction of connection points.
C
Published in release 20A. The following updates are done in this revision:
• The description of Type A added in robot description chapter.
• Minor changes in section Specification of variants and options.
• Updated robot arm dimension figure.
D
Published in release 20B. The following updates are done in this revision:
• Corrected the quantity of washers for securing robot to the
foundation.
• Updated robot arm dimension.
E
Published in release 20C. The following updates are done in this revision:
• Minor changes.
F
Published in release 20D. The following updates are done in this revision:
• Added note about default configuration of emergency stop.
• Warranty section updated.
G
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Overview of this specification
Continued

1 Description
1.1 Structure
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.
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Product specification - IRB 14050 9
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1 Description
1.1.1 Introduction to structure

1.1.1.1 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:
• Motor brake, axis 1 and axis 2
• Gearbox, axis 4 and axis 5
• Mechanical design, axis 4 and axis 5
• Cable harness design
Those robots in original design are simply named IRB 14050 (no-type-specified).
How to know which type the robot is?
The following characteristics can be used to figure out the robot type.
Axis 5 appearance
IRB 14050 Type AIRB 14050 (no-type-specified)
xx1900001957
xx1900001956
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1 Description
1.1.1.1.1 Robot type description

Robot dimension
A
157
xx1900001958
IRB 14050 Type AIRB 14050 (no-type-specified)
146 mm137 mmA
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1 Description
1.1.1.1.1 Robot type description
Continued

Arm configuration during system installation
The robot type must be correctly selected when setting the arm configuration during
system installation, otherwise, unexpected motion error or performance issues
may occur.
Type A is available for selection as below only in RobotStudio 2019.5.3 or later
and RobotWare 7.0.3 or later.
xx2000002172
Protection
The robot has IP30 protection.
Operating system
The robot is controlled by the controller (separated) which is equipped with robot
control software, RobotWare. RobotWare supports every aspect of the robot system,
such as motion control, development and execution of application programs,
communication etc. See Operating manual - OmniCore.
Safety
The safety standards are valid for the complete robot.
Additional functionality
For additional functionality, the robot can be equipped with optional software for
application support, for example communication features, network communication,
and advanced functions such as multitasking, sensor control etc. For a complete
description on optional software, see the Product specification - OmniCore C line.
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1 Description
1.1.1.1.1 Robot type description
Continued

Arm axes
+
+
+
+
+
+
+
--
--
-
-
-
+
+
+
+
+
+
+
--
--
-
-
-
1
2
3
45
6
7
xx1800000579
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1 Description
1.1.1.1.1 Robot type description
Continued

1.1.2 The Robot
General
The IRB 14050 can only be mounted on floor, wall and ceiling, no other mounting
position is permitted.
Reach (m)Handling capacity (kg)Robot
0.559 m0.5 kgIRB 14050
Manipulator weight
WeightData
9.48 kg (without gripper)IRB 14050
Other technical data
NoteDescriptionData
< 70 dB (A) Leq (acc. to the work-
ing space Machinery directive
2006/42/EG)
The sound pressure level outsideAirborne noise level
Power consumption
Path E-E2-E3-E4 in the ISO Cube, maximum load.
Power consumption (kW)Type of movement
< 0.17 kWAverage power consumption
IRB 14050Robot in 0 degree position
0.09 kWBrakes engaged
0.14 kWBrakes disengaged
xx0900000265
DescriptionPosition
250 mmA
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1 Description
1.1.2 The Robot

Dimensions
Manipulator with rear connector interface
204.8
30.4160
9.5
160
644.8
427.5
xx1800000592
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1 Description
1.1.2 The Robot
Continued

Manipulator with bottom connector interface (option 3309-1)
162
9.5
27.9
204.8
160
644.8 672.7
427.5
xx1900001790
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1 Description
1.1.2 The Robot
Continued

Robot arms
A
157
xx1900001958
IRB 14050 Type AIRB 14050 (no-type-specified)
146 mm137 mmA
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1 Description
1.1.2 The Robot
Continued

Robot base
155
2.6 27
2.5
18
xx1900001794
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1 Description
1.1.2 The Robot
Continued

1.2 Safety
1.2.1 Applicable standards
Note
The listed standards are valid at the time of the release of this document. Phased
out or replaced standards are removed from the list when needed.
General
The product is designed in accordance with EN ISO 10218-1, Robots for industrial
environments - Safety requirements -Part 1 Robot. If there are deviations, these
are listed in the declaration of incorporation which is included on delivery.
Standards, EN ISO
The product is designed in accordance with selected parts of:
DescriptionStandard
Safety of machinery - General principles for design - Risk as-
sessment and risk reduction
EN ISO 12100:2010
Safety of machinery, safety related parts of control systems -
Part 1: General principles for design
EN ISO 13849-1:2015
Safety of machinery - Emergency stop - Principles for designEN ISO 13850:2015
Robots and robotic devices -- Coordinate systems and motion
nomenclatures
ISO 9787:2013
Manipulating industrial robots, performance criteria, and related
test methods
ISO 9283:1998
Classification of air cleanlinessEN ISO 14644-1:2015i
Ergonomics of the thermal environment - Part 1EN ISO 13732-1:2008
EMC, Generic emissionEN 61000-6-4:2007 +
A1:2011
IEC 61000-6-4:2006 +
A1:2010
EMC, Generic immunityEN 61000-6-2:2005
IEC 61000-6-2:2005
Arc welding equipment - Part 1: Welding power sourcesEN IEC 60974-1:2012ii
Arc welding equipment - Part 10: EMC requirementsEN IEC 60974-10:2014ii
Safety of machinery - Electrical equipment of machines - Part
1 General requirements
EN IEC 60204-1:2016
Degrees of protection provided by enclosures (IP code)IEC 60529:1989 + A2:2013
Protection of electronic devices from electrostatic phenomena
- General requirements
IEC 61340-5-1:2010
iOnly robots with protection Clean Room.
ii Only valid for arc welding robots. Replaces EN IEC 61000-6-4 for arc welding robots.
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1 Description
1.2.1 Applicable standards

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.
The IRB 14050 is by default always in collaborative operation.
MotivationDeviation for IRB
14050
Requirement
The alternative paragraph §5.4.3 for other
safety-related control system performance
is used instead of §5.4.2.
The robot fulfills per-
formance level b with
structure category B.
§5.4 Performance level
d and structure cat-
egory 3.
A comprehensive risk assessment has res-
ulted in performance requirement of PL b,
Cat B.
Automatic and manual mode are usability
features for IRB 14050, but not safety fea-
tures. Locking the operating mode does not
contribute to a necessary risk reduction. i
The mode selector is
implemented in soft-
ware on FlexPendant.
§5.7.1 Mode selector
which can be locked in
each position.
The IRB 14050 robot is intended for collab-
orative applications where contact between
robot and the operator is harmless. An en-
abling device does not further contribute to
a risk reduction.
The enabling device
on FlexPendant is only
active, when a Safe-
Move configuration is
active.
§5.7.3 & §5.8.3 En-
abling device
The IRB 14050 robot is intended for collab-
orative applications where contact between
robot and the operator is harmless. An auto
initiation requirement does not further con-
tribute to a risk reduction.
It is possible to activ-
ate manipulator auto-
matic operation from
the FlexPendant.
§5.7.3 & §5.8.5 Initiat-
ing automatic opera-
tion
It is possible to set up safeguarded space
using external equipment and safety inputs.
The IRB 14050 robot is intended for collab-
orative applications where contact between
robot and the operator is harmless. Limiting
the working range is then not necessary for
risk reduction. Note that PPE (Personal
Protective Equipment) may be required.
IRB 14050 does not
have adjustable mech-
anical stops or provi-
sions to install non-
mechanical limiting
devices.
§5.12.1 Limiting the
range of motion by ad-
justable stops
(§5.12.2) or by safety
functions (§5.12.3).
iThe selector is replaced by a selection through software and user authorities can be set to restrict
the use of certain functions of the robot (e.g. access codes).
European standards
The product is designed in accordance with selected parts of:
DescriptionStandard
Safety of machinery - Ergonomic design principles - Part 1:
Terminology and general principles
EN 614-1:2006 + A1:2009
Safety of machinery - Two-hand control devices - Functional
aspects - Principles for design
EN 574:1996 + A1:2008
UL, ANSI, and other standards
DescriptionStandard
Safety requirements for industrial robots and robot systemsANSI/RIA R15.06
Safety standard for robots and robotic equipmentANSI/UL 1740
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1 Description
1.2.1 Applicable standards
Continued