ABB IRB 6620 Product Manual page 53

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
Product manual - IRB 6620
3HAC027151-001 Revision: W
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Endurance load (in operation)
± 7.3 kN
11.0 ±2.0 kN
± 18.0 kNm
± 4.4 kNm
Endurance load (in operation)
± 7.3 kN
- 11.0 ±2.0 kN
± 18.0 kNm
± 4.4 kNm
Value
0.3 mm
15°
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2 Installation and commissioning
2.4.1 Pre-installation procedure
Max. load (emergency stop)
± 15.5 kN
11.0 ±3.7 kN
± 37.2 kNm
± 10.4 kNm
Max. load (emergency stop)
± 15.5 kN
- 11.0 ±3.7 kN
± 37.2 kNm
± 10.4 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.
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.
The limit for the maximum payload on the robot
is reduced if the robot is tilted from 0°.
Contact ABB for further information about accept-
able loads.
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