ABB CRB 15000 Product Manual page 38

2 Manipulator description
2.2 Technical data
Continued
Requirement
Minimum resonance
frequency
i
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
Parameter
Minimum ambient temperature
Maximum ambient temperature
Maximum ambient temperature (less than 24 hrs)
Maximum ambient humidity
Maximum ambient altitude
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Parameter
Minimum ambient temperature
Maximum ambient temperature
Maximum ambient humidity
Maximum ambient altitude
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ii
Protection classes, robot
The table shows the available protection types of the robot, with the corresponding
protection class.
Protection type
Manipulator, protection type Standard
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38
Value
22Hz
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.
Disturbances from other machinery will affect the robot and the tool accuracy. The robot has
resonance frequencies in the region 10 – 20 Hz and disturbances in this region will be amplified,
although somewhat damped by the servo control. This might be a problem, depending on the
requirements from the applications. If this is a problem, the robot needs to be isolated from the
environment.
At low environmental temperature < 10ºC is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Higher ambient temperature may be possible, if duty cycle is reduced.
© Copyright 2021 ABB. All rights reserved.
Note
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 OmniCore, section Motion Process
Mode.
Value
-40°C
70°C
70°C
95% at constant temperature (not
intended to operate with condens-
ation)
0-3,000 m (100-74 kPa)
Value
5°C
35°C
95% at constant temperature
0-2,000 m (100-84 kPa)
Protection class
IP54
i
i
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Product manual - CRB 15000
3HAC077389-001 Revision: A