ABB IRB 1010 Product Manual page 39

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
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
Product manual - IRB 1010
3HAC081964-001 Revision: B
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)
150 N
200 N
70 Nm
30 Nm
Endurance load (in operation)
150 N
340 N
70 Nm
30 Nm
Value
0.1/500 mm
5°
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2 Manipulator description
Maximum load (emergency stop)
264 N
353 N
121 Nm
51 Nm
Max. load (emergency stop)
340 N
493 N
121 Nm
51 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.
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2.2 Technical data
Continued
39