ABB IRB 6600 - 175/2.55 User Manual page 230

3 Unpacking
3.0.1 Pre-installation procedure
Loads on founda-
The table below shows the various forces and torques working on the manipulator during
tion, manipulator
different kinds of operation.
NOTE! These forces and torques are extreme values that are rarely encountered during oper-
ation. The values also never reach their maximum simultaneously!
Force
Force xy
Force z
Torque xy
Torque z
Requirements on The table below shows the requirements for the foundation where the manipulator is to be
foundation,
fitted:
manipulator
Requirement
Min. levelity
Max. tilt
Min. resonance frequency
Storage condi-
The table below shows the allowed storage conditions for the manipulator:
tions, manipula-
tor
Parameter
Min. ambient temperature
Max. ambient temperature
Max. ambient temperature (less than 24 hrs)
Max. ambient humidity
Operating condi- The table below shows the allowed operating conditions for the manipulator:
tions, manipula-
tor
Parameter
Min. ambient temperature
Max. ambient temperature
Max. ambient humidity
28
Endurance load
(in operation)
±10.1 kN
18.0 ±13.8 kN
±27.6 kNm
±7.4 kNm
Value Note
0.5 mm
5° The limit for the maximum payload on the
manipulator is reduced if the manipulator is
tilted from 0°.
Contact ABB for further information about
acceptable payload.
22 Hz
A
Max. load
(at emergency stop)
±20.7 kN
18.0 ±22.4 kN
±50.6 kNm
±14.4 kNm
Value
-25°C
+55°C
+70°C
Max. 95% at constant temperature
Value
+5°C
+50°C
Max. 95% at constant temperature
3HAC 16245-1