ABB IRB 140 Product Manual page 55

Loads on foundation, robot
The illustration shows the directions of the robots stress forces. The directions are
valid for all floor mounted and suspended robots.
xx1100000521
F
F
T
T
The table shows the various forces and torques working on the robot during different
kinds of operation.
Floor mounted
Force
Force xy
Force z
Torque xy
Torque z
Wall mounted
Force
Force xy
Force z
3HAC027400-001 Revision: K
T
xy
F
z
F
xy
T
z
Force in any direction in the XY plane
xy
Force in the Z plane
z
Bending torque in any direction in the XY plane
xy
Bending torque in the Z plane
z
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!
Endurance load (in operation)
± 1020 N
- 1000 ± 620 N
± 700 Nm
± 250 Nm
Endurance load (in operation)
± 1750 N
± 850 N
© Copyright 2004-2013 ABB. All rights reserved.
2 Installation and commissioning
2.2.1 Pre-installation procedure
Max. load (emergency stop)
± 2000 N
- 1000 ± 1250 N
± 1500 Nm
± 470 Nm
Max. load (emergency stop)
± 2800 N
± 1600 N
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