Requirements, Foundation; Storage Conditions, Robot; Operating Conditions, Robot - ABB IRB 14000 Product Manual

2 Installation and commissioning
2.2.1 Pre-installation procedure
Continued
Force
Force z
Torque x
Torque y
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
Maximum ambient humidity
i
Continues on next page
62
Endurance load (in operation)
+380 ±140 N
±101 Nm
+14 ±98 Nm
±61 Nm
Value
0.1/500 mm
0º
22Hz
At low environmental temperature < 10ºC is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
© Copyright 2015 - 2016 ABB. All rights reserved.
Max. load (emergency stop)
+380 ±280 N
±202 Nm
+14 ±172 Nm
±122 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/encoder calibration is changed this
will influence 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
-10°C
+55°C
+55°C
85% at constant temperature
(gaseous only)
Value
i
+5°C
+40°C
85% at constant temperature
Product manual - IRB 14000
3HAC052983-001 Revision: D