Performance According To Iso 9283 - ABB IRB 1200 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
Pose repeatability, RP (mm)
Pose accuracy, AP (mm)
Linear path repeatability, RT (mm)
Linear path accuracy, AT (mm)
Pose stabilization time, Pst (s) within 0.1 mm of the
position
Product specification - IRB 1200
3HAC046982-001 Revision: O
Description
Programmed position
Mean position at program
execution
Mean distance from pro-
grammed position
Tolerance of position B at re-
peated positioning
© Copyright 2021 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
IRB 1200 - 5/0.9
0.025
0.02
0.07
0.53
0.113
1 Description
IRB 1200-7/0.7
0.02
0.02
0.02
0.77
0.057
47