Performance According To Iso 9283 - ABB IRB 120 Product Specification

1.8.2 Performance according to ISO 9283

General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Position
A
B
AP
RP
Description
IRB
Pose repeatability, RP (mm)
Pose accuracy, AP
Linear path repeatability, RT (mm)
Linear path accuracy, AT (mm)
Pose stabilization time, Pst (s) within 0.2 mm of the
position
i
The above values are the range of average test results from a number of robots
Product specification - IRB 120
3HAC035960-001 Revision: T
Description
Programmed position
Mean position at program
execution
Mean distance from pro-
grammed position
Tolerance of position B at re-
peated positioning
i
(mm)
AP according to the ISO test above, is the difference between the teached position (position manually
modified in the cell) and the average position obtained during program execution.
© Copyright 2010-2019 ABB. All rights reserved.
1.8.2 Performance according to ISO 9283
Position Description
E Programmed path
D Actual path at program execution
AT Max deviation from E to average path
RT Tolerance of the path at repeated
program execution
Values
120 - 3/0.6
0.01
0.02
0.07-0.16
0.21-0.38
0.03
1 Description
35