ABB Robotics IRB 1520 Product Manual page 42

2 Installation and commissioning
2.2.1 Pre-installation procedure
Continued
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
Minimum resonance
frequency
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42
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Endurance load (in operation)
± 1900 N
1850 ±900 N
± 1550 Nm
± 390 Nm
Endurance load (in operation)
± 1900 N
- 1850 ±750 N
± 1550 Nm
± 390 Nm
Value
0.5 mm
15°
22 Hz
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 frequency. The robot should be mounted as rigid as possibly to the floor.
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Max. load (emergency stop)
± 4300 N
1850 ±2350 N
± 3900 Nm
± 1200 Nm
Max. load (emergency stop)
± 4250 N
-1850 ±2350 N
± 3900 Nm
± 1200 Nm
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 value is recommended for optimal perform-
ance.
Due to foundation stiffness, consider robot mass
Note
including equipment.
For information about compensating for founda-
tion flexibility, see Application manual - Control-
ler software IRC5, section Motion Process Mode.
i
Product manual - IRB 1520
3HAC043435-001 Revision: L