The IRB 140 is a compact and powerful 6-axis machine with a unique combination of fast acceleration, large working area and high payload. It is the perfect choice for tasks which require short cycle times and accuracy such as assembly of parts and loading and unloading of light parts. It is reliable and has a high production up time. It is fast and has a payload of up to 5 kg and a reach of 810 mm. It is versatile and can be floor or wall mounted at any angle, or suspended, allowing greater flexibility in arranging the layout of the production line. The IRC5 M2004 controller features a FlexPendant with a touch screen-based design and 3D joystick for intuitive interaction. It also supports the state-of-the-art field busses for I/O and motion control.