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2 Mechanical installation
2.1 Foundation
2.1.1 Robustness
The foundation must withstand the static loads caused by the weight of the
equipment and the dynamic loads generated by the movement of the carriage and
manipulator.
2.1.2 Incline
The foundation must be designed so that the track motion can be mounted without
the incline exceeding 0.5 mm/m in the direction of travel and 0.1 mm/m across the
direction of travel.
2.1.3 Static loads
The table shows the static loads that the foundation must be able to bear.
Load
Distributed load, stand
Movable, in the direction of travel
Permitted extra load
2.1.4 Dynamic loads
The dynamic loads from the movement of the track motion and manipulator can
change direction independent of each other. If loads are added to each other, the
foundation must be able to bear these combined loads.
The maximum dynamic loads for the track motion are:
See the robot documentation with regard to dynamic loads for the robot.
The track motion should not be used so that the maximum loads from the robot and conveyor
are added to each other. If, for example, the carriage is used at maximum speed in one
direction, the robot arm should be at a standstill or moving in the opposite direction.
3HEA 800 970-001 Rev. D, Mars 2006
Manipulator
Carriage
Adaptor, IRB 4400
IRB 4400
IRB 6600
• (Weight, carriage + Weight, manipulator + Weight, extra load) × Acceleration
Mechanical installation
Value
270 kg/m
2400 kg
600 kg
160 kg
100 kg
400 kg
Foundation
2-5
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