ABB CRB 15000 Product Manual page 41

The directions are valid for all floor mounted, table mounted, wall mounted and
suspended robots.
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F
F
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
i
Product manual - CRB 15000
3HAC077389-001 Revision: L
T
xy
F
z
F
xy
T
z
Force in any direction in the XY plane
xy
Force in the Z plane
z
Bending torque in any direction in the XY plane
xy
Bending torque in the Z plane
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)
i
±303 N / ±470 N
+280 ±147 N
iii
±420 N
i
±246 Nm / ±570 Nm
i
±145 Nm / ±200 Nm
Valid for CRB 15000-5/0.95.
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Maximum load (emergency stop)
ii iii
/ ±470 N ±1113 N
i ii
/ +500 ±410 N / +480 +280 ±857 N
±690 N
ii iii
/ ±580 Nm ±711 Nm
ii iii
/ ±210 Nm ±334 Nm
2 Manipulator description
2.2 Technical data
Continued
i ii
/ ±1460 N / ±1450 N
i
/ +500 ±650 N
iii
i ii
/ ±1,280 Nm / ±1,180 Nm
i ii
/ ±720 Nm / ±690 Nm
Continues on next page
iii
ii
/ +480
iii
iii
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