ABB IRB 140 type C Product Manual page 39

Loads on foundation, robot
The table below shows the different forces and torques working on the robot during different
kinds of operation.
NOTE! These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum simultaneously!
Force
Force XY upright/suspended
Force XY wall
Force Z upright/suspended
Force Z wall
Torque XY upright/suspended
Torque XY wall
Torque Z upright/suspended
Torque Z wall
Requirements, foundation
The table below shows the requirements for the foundation where the weight of the installed
robot is included:
Requirement
Min. levelity
Max. tilt
Min. resonance frequency
Storage conditions, robot
The table below shows the allowed storage conditions for the robot:
Parameter
Max. ambient temperature
Max. ambient temperature (less than 24 hrs)
Min. ambient temperature
Max. ambient humidity
Operating conditions, robot
The table below shows the allowed operating conditions for robot:
Parameter
Max. ambient temperature
Min. ambient temperature
Max. ambient humidity
3HAC027400-001 Revision: C
2 Installation and commissioning
2.2.1. Pre-installation procedure
Endurance load
(operation)
± 1020 N
± 1750 N
-1000 ± 1000 N
± 850 N
± 700 Nm
± 1020 Nm
± 250 Nm
± 250 Nm
Value
0.5 mm
5°
22 Hz
Value
+55° C
+70° C
-25° C
Max. 95% at constant temperature
Value
+45° C
+5° C
Max. 95% at constant temperature
Continued
Max. load (emergency
stop)
± 2000 N
± 2800 N
-1000 ± 2000 N
± 1600 N
± 1500 Nm
± 1710 Nm
± 470 Nm
± 485 Nm
Continues on next page
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