ABB IRB 4400 - 45 Product Manual page 41

Loads on foundation, robot - all versions except IRB 4400/S and 4450S
The table below shows the various forces and torques working on the robot during different
kinds of operation. Stress forces for the robot versions IRB 4400/S and IRB 4450S are
detailed separately in the following tables.
Note! These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
The rigidity of the foundation must be designed to minimize the affects of dynamic behaviour
on the robot. For optimal performance, the frequency for the foundation bearing the robot
must be higher than 30 Hz.
TuneServo can be used to adapt robot tuning for a non-optimal foundation.
Fxy and Mxy are vectors that can have any direction on the xy plane.
The illustration below shows the directions of the stress forces.
xx0300000254
Force
Force xy
Force z
Torque xy
Torque z
3HAC022032-001 Revision: E
Endurance load (in operation)
± 7500 N
+9500 ± 2000 N
± 14000 Nm
± 2000 Nm
2 Installation and commissioning
2.2.1. Pre-installation procedure
Max. load (emergency stop)
± 9000 N
+9500 ± 3000 N
± 16000 Nm
± 4000 Nm
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