ABB CRB 15000 Product Manual page 42

2 Manipulator description
2.2 Technical data
Continued
ii
iii Valid for CRB 15000-12/1.27.
Wall mounted
Force
Force xy
Force z
Torque xy
Torque z
Suspended
Force
Force xy
Force z
Torque xy
Torque z
i
ii
iii Valid for CRB 15000-12/1.27.
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Requirement
Flatness of foundation
surface
Minimum resonance
frequency
Minimum foundation
material yield strength
i
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42
Valid for CRB 15000-10/1.52.
Endurance load (in operation)
+280 ±130 N
±289 N
±275 Nm
±162 Nm
Endurance load (in operation)
i
±303 N / ±470 N
i
-280 ±147 N / +500 ±410 N
iii
±420 N
i
±246 Nm / ±570 Nm
i
±145 Nm / ±200 Nm
Valid for CRB 15000-5/0.95.
Valid for CRB 15000-10/1.52.
Value
0.1/500 mm
22Hz
It may affect the ma-
nipulator lifetime to
have a lower reson-
ance 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,
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Max. load (emergency stop)
+280 ±1000 N
±944 N
±768 Nm
±338 Nm
Max. load (emergency stop)
ii iii
/ ±470 N ±1113 N
ii
/ +480 -280 ±857 N
±690 N
ii iii
/ ±580 Nm ±711 Nm
ii iii
/ ±210 Nm ±334 Nm
Note
The value for levelness aims at the circum-
stance of the anchoring points in the robot
base.
In order to compensate for an uneven sur-
face, the robot can be recalibrated during in-
stallation. If resolver/encoder calibration is
changed this will influence the absolute ac-
curacy.
The value is recommended for optimal per-
formance.
Due to foundation stiffness, consider robot
Note
mass including equipment.
For information about compensating for
foundation flexibility, see the description of
Motion Process Mode in the manual that de-
scribes the controller software option, see
References on page
i ii iii
/ ±1460 N / ±1450 N
i ii
/ +500 ±650 N / +480
iii
i ii
/ ±1,280 Nm / ±1,180 Nm
i ii
/ ±720 Nm / ±690 Nm
i
10.
Product manual - CRB 15000
3HAC077389-001 Revision: L
iii
iii