ABB IRB 2400/L Product Manual page 52

2 Installation and commissioning
2.2.1 Pre-installation procedure
Continued
Floor mounted
Force
Force xy
Force z
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
Flatness of foundation
surface
Maximum tilt
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52
Endurance load (in operation)
IRB 2400 -10, -16: ± 2000 N
IRB 2400 -L: ± 1700 N
IRB 2400 -10, -16: 4100 ± 1400 N
IRB 2400 -L: 4100 ± 1100 N
IRB 2400 -10, -16: ± 3400 Nm
IRB 2400 -L: ± 3000 Nm
IRB 2400 -10, -16: ± 550 Nm
IRB 2400 -L: ± 450 Nm
Endurance load (in operation)
IRB 2400 -10, -16: ± 2000 N
IRB 2400 -L: ± 1700 N
IRB 2400 -10, -16: - 4100 ± 1400 N
IRB 2400 -L: - 4100 ± 1100 N
IRB 2400 -10, -16: ± 3400 Nm
IRB 2400 -L: ± 3000 Nm
IRB 2400 -10, -16: ± 550 Nm
IRB 2400 -L: ± 450 Nm
Value
0,5 mm
5°
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Max. load (emergency stop)
IRB 2400 -10, -16: ± 2600N
IRB 2400 -L: ± 2100 N
IRB 2400 -10, -16: 4100 ± 1900 N
IRB 2400 -L: 4100 ± 1400 N
IRB 2400 -10, -16: ± 4000 Nm
IRB 2400 -L: ± 3400 Nm
IRB 2400 -10, -16: ± 900 Nm
IRB 2400 -L: ± 900 Nm
Max. load (emergency stop)
IRB 2400 -10, -16: ± 2600 N
IRB 2400 -L: ± 2100 N
IRB 2400 -10, -16: - 4100 ± 1900 N
IRB 2400 -L: - 4100 ± 1400 N
IRB 2400 -10, -16: ± 4000 Nm
IRB 2400 -L: ± 3400 Nm
IRB 2400 -10, -16: ± 900 Nm
IRB 2400 -L: ± 900 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.
Product manual - IRB 2400
3HAC022031-001 Revision: P