ABB Robotics IRB 4600 Manual page 45

Loads on foundation, robot
The illustration shows the directions of the robots stress forces.
The directions are valid for all floor mounted, suspended and inverted robots.
xx1100000521
F
F
T
T
The table shows the various forces and torques working on the robot during different
kinds of operation.
Floor mounted
Force
Force xy
Product manual - IRB 4600
3HAC033453-001 Revision: Y
Note
The weight does not include tools and other equipment fitted on the robot.
T
xy
F
z
F
xy
T
z
Force in any direction in the XY plane
xy
Force in the Z plane
z
Bending torque in any direction in the XY plane
xy
Bending torque in the Z plane
z
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Endurance load (in operation)
±3940 N
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2 Installation and commissioning
2.2.1 Pre-installation procedure
Max. load (emergency stop)
±7790 N
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