Stress Forces; Stiffness; All Versions - ABB IRB 6400R Product On-Line Manual

On-Site Installation

2.3 Stress forces

2.3.1 Stiffness

The stiffness of the foundation must be designed to minimize the influence on the
dynamic behaviour of the robot. For optimal performance the frequency of the founda-
tion with the robot weight must be higher than 22 Hz.
TuneServo can be used for adapting the robot tuning to a non-optimal foundation.

2.3.2 All versions

Force xy
Force z
Torque xy
Torque z
Force xy and torque xy are vectors that can have any direction in the xy plane.
Figure 8 The directions of the stress forces.
14
Installation and Commissioning
Endurance load
(In operation)
±14 000 N
22 000 ±8 000 N
± 34 000 Nm
±7 000 Nm (±12 000 Nm*)
Y
Z
Max. load
(Emergency stop)
±38 000 N
22 000 ±19 000 N
±61 000 Nm
±15 000 Nm
X
Product Manual IRB 6400R