Performance According To Iso 9283 - ABB IRB 660 Product Specification

1 Description

1.7.2 Performance according to ISO 9283

1.7.2 Performance according to ISO 9283
General
At rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO
test plane, with all six axes in motion. Values in the table below are the average
result of measurements on a small number of robots. The result may differ
depending on where in the working range the robot is positioning, velocity, arm
configuration, from which direction the position is approached, the load direction
of the arm system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Pos
A
B
AP
RP
Description
Undirectional pose accuracy, AP
Unidirectional pose repeatability, RP (mm)
Linear path repeatability, RT (mm)
Linear path accuracy, AT (mm)
Pose stabilization time PST (s)
i
44
Description
Programmed position
Mean position at program
execution
Mean distance from pro-
grammed position
Tolerance of position B at re-
peated positioning
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.
The above values are the range of average test results from a number of robots.
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Pos Description
E Programmed path
D Actual path at program execution
AT Max deviation from E to average path
RT Tolerance of the path at repeated
program execution
IRB 660-180/3.15
i
(mm) 0.20
0.05
0.23
2.20
0.17
IRB 660-250/3.15
0.20
0.05
0.17
2.13
0.22
Product specification - IRB 660
3HAC023932-001 Revision: X