ABB IRB 1200 Product Manual page 52

2 Installation and commissioning
2.2.4 Pre-installation procedure
Continued
Wall 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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52
Endurance load (in operation)
±1210 N
0 ±900 N
±700 Nm
±300 Nm
Endurance load (in operation)
±910 N
+550 ±980 N
±570 Nm
±280 Nm
Value
0.1/500 mm
5º
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.
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.
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Max. load (emergency stop)
±1940 N
0 ±1340 N
±1650 Nm
±610 Nm
Max. load (emergency stop)
±1620 N
+550 ±1610 N
±1550 Nm
±580 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 limit for the maximum payload on the robot
is reduced if the robot is tilted from 0°.
Contact ABB for further information about accept-
able loads.
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 the application manual of the
controller software, section Motion Process
Mode.
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Product manual - IRB 1200
3HAC046983-001 Revision: S