ABB IRB 1010 Product Manual page 40

2 Manipulator description
2.2 Technical data
Continued
Requirement
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
Maximum ambient humidity
i
Protection classes, robot
The table shows the available protection types of the robot, with the corresponding
protection class.
Protection type
Manipulator, protection type Standard
i
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40
Value
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.
At low environmental temperature (below 10° C) a warm-up phase is recommended to be run with
the robot. Otherwise there is a risk that the robot stops or runs with lower performance due to
temperature dependent oil and grease viscosity.
According to IEC 60529.
© Copyright 2022 ABB. All rights reserved.
Note
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
0°C
+45°C (113°F)
95% at constant temperature
Protection class
IP40
i
i
(32°F)
i
ii
Product manual - IRB 1010
3HAC081964-001 Revision: B