ABB CRB 1100 Product Manual page 40

2 Manipulator description
2.2 Technical data
Continued
Wall mounted
Force
Force xy
Force z
Torque xy
Torque z
Suspended
Force
Force xy
Force z
Torque xy
Torque z
Table mounted
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
Minimum resonance
frequency
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40
Endurance load (in operation)
+210 ±370 N
±370 N
±200 Nm
±90 Nm
Endurance load (in operation)
±420 N
-210 ±380 N
±180 Nm
±90 Nm
Endurance load (in operation)
±420 N
+210 ±380 N
±180 Nm
±90 Nm
Value
0.1/500 mm
22 Hz
Note
It may affect the ma-
nipulator lifetime to
have a lower reson-
ance frequency than
recommended.
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Max. load (emergency stop)
+210 ±660 N
±540 Nm
±370Nm
±140 Nm
Max. load (emergency stop)
±710 N
-210 ±510 N
±330 Nm
±140 Nm
Maximum load (emergency stop)
±710N
+210 ±510 N
±330 Nm
±140 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 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
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 10.
Product manual - CRB 1100
3HAC078007-001 Revision: J
i