Performance According To Iso 9283 - ABB IRB 6620 Product Specification

1 Description

1.8.2 Performance according to ISO 9283

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, 1 m cube with all six axes in motion.
The figures for AP, RP, AT and RT are mesured according to Figure 24.
Figure 24 Explanation of ISO values.
Pos
A
B
AP
RP
Description
Pose accuracy, AP
Pose repeatability, RP (mm)
Pose stabilization time, PSt (s)
Path accuracy, AT (mm)
Path repeatability, RT(mm)
38
Description
Programmed position
Mean position at program execution D
Mean distance from programmed
position
Tolerance of posiotion B at repeated
positioning
a
(mm)
a. 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.
Rev.E
Pos Description
E Programmed path
Actual path at program execution
AT Max deviation from E
RT Tolerance of the path at repeated
program execution
Performance
0.12
0.03
0.08
3.03
0.62
3HAC 025861-001