ABB IRB 6710 Product Manual page 39

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
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
Product manual - IRB 6710
3HAC085695-001 Revision: A
Value
0.3 mm
22 Hz
It may affect the ma-
nipulator lifetime to
have a lower reson-
ance frequency than
recommended.
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 < 10ºC is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
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2 Manipulator description
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
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
2.1 Technical data
Continued
i
10.
Value
-25°C
55°C
70°C
95%
Value
i
5°C
50°C
95% at constant temperature
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