ABB IRB 920 Product Manual page 39

T
T
The table shows the various forces and torques working on the robot during different
kinds of operation.
Floor mounted
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
Product manual - IRB 920
3HAC075721-001 Revision: C
Bending moment in any direction in Plane XY
xy
Torsional moment around Axis Z
z
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Endurance load (in operation)
±550 N
±550 N
±330 Nm
±150 Nm
Value
0.1/500 mm
0°
22 Hz
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
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2 Manipulator description
Maximum load (emergency stop)
±1500 N
±650 N
±500 Nm
±900 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 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.
2.2 Technical data
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