ABB IRB 1100 Product Manual page 42

2 Manipulator description
2.2 Technical data
Continued
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
Minimum foundation
material yield strength
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
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Parameter
Minimum ambient temperature
Maximum ambient temperature
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42
Value
0.1/500 mm
5°
22 Hz
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
150 MPa
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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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.
Value
-25°C (-13°F)
+55°C (+131°F)
+70°C (+158°F)
95% at constant temperature
(gaseous only)
Value
+5°C
+45°C (113°F)
i
i
(41°F)
Product manual - IRB 1100
3HAC064992-001 Revision: L