ABB IRB 140 Product Manual page 56

2 Installation and commissioning
2.2.1 Pre-installation procedure
Continued
Force
Torque xy
Torque z
Suspended
Force
Force xy
Force z
Torque xy
Torque z
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Requirement
Maximum deviation
from levelness
Maximum tilt
Minimum resonance
frequency
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
Parameter
Minimum ambient temperature
Maximum ambient temperature
Maximum ambient temperature (less than 24 hrs)
Maximum ambient humidity
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Parameter
Minimum ambient temperature
Maximum ambient temperature
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Endurance load (in operation)
± 1020 Nm
± 250 Nm
Endurance load (in operation)
± 1020 N
+ 1000 ± 620 N
± 700 Nm
± 250 Nm
Value
0.5 mm
5°
22 Hz
© Copyright 2004-2013 ABB. All rights reserved.
Max. load (emergency stop)
± 1710 Nm
± 485 Nm
Max. load (emergency stop)
± 2000 N
+ 1000 ± 1250 N
± 1500 Nm
± 470 Nm
Note
Flat foundations give better repeatability of the
resolver calibration compared to original settings
on delivery from ABB.
The value for levelness aims at the circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver calibration is changed this will influ-
ence the absolute accuracy.
The limit for the maximum payload on the robot
is reduced if the robot is tilted from 0°.
Contact ABB for further information about accept-
able loads.
Value
-25° C
+55° C
+70° C
95% at constant temperature
(gaseous only)
Value
+45° C
+5° C
3HAC027400-001 Revision: K