ABB IRB 6620LX Product Manual page 51

Side mounted
Force
Force x
Force y
Force z
Torque x
Torque y
Torque z
Suspended
Force
Force x
Force y
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
Flatness of foundation
surface
Maximum tilt
Minimum resonance
frequency
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Product manual - IRB 6620LX
3HAC035737-001 Revision: P
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Endurance load (in operation)
11.5 ±3.5 kN
5.2 kN
5.6 kN
8.3 kNm
14.8 kNm
6.5 kNm
Endurance load (in operation)
4.9 kN
5.2 kN
11.5 ±3.5 kN
8.5 kNm
11.2 kNm
6.1 kNm
Value
0.3 mm
0°
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
The minimum resonance frequency given should be interpreted as the frequency of the robot
mass/inertia, robot assumed stiff, when a foundation translational/torsional elasticity is added, i.e.,
the stiffness of the pedestal where the robot is mounted. The minimum resonance frequency should
not be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalent
mass of the floor is very high, it will not affect robot movement, even if the frequency is well below
the stated 25 Hz. The robot should be mounted as rigid as possibly to the floor.
© Copyright 2009-2018 ABB. All rights reserved.
2 Installation and commissioning
2.3.1 Pre-installation procedure
Max. load (emergency stop)
11.5 ±11.3 kN
7.7 kN
13.5 kN
17.8 kNm
29.5 kNm
9 kNm
Max. load (emergency stop)
13.4 kN
7.7 kN
11.5 ±11.3 kN
18.5 kNm
21.5 kNm
9.1 kNm
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.
The value is recommended for optimal perform-
Note
ance.
Due to foundation stiffness, consider robot mass
including equipment.
For information about compensating for founda-
tion flexibility, see Application manual - Control-
ler software IRC5, section Motion Process Mode.
Continued
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