Performance According To Iso 9283 - ABB IRB 910INV Product Specification

1.8.2 Performance according to ISO 9283

General
At maximum load, maximum offset and 1.6 m/s velocity on the inclined ISO test
plane, with all six axes in motion. Values in the table below are the average result
of measurements on a small number of robots. The result may differ depending
on where in the working range the robot is positioning, velocity, arm configuration,
from which direction the position is approached, the load direction of the arm
system. Backlashes in gearboxes also affect the result.
The figures for AP, RP, AT and RT are measured according to figure below.
xx0800000424
Pos
A
B
AP
RP
Description
Pose repeatability, RP (mm)
Pose accuracy, AP (mm)
Linear path repeatability, RT (mm)
Linear path accuracy, AT (mm)
Pose stabilization time, PSt (s) within
0.1 mm of the position
i
ii
Product specification - IRB 910INV
3HAC068057-001 Revision: M
Description
Programmed position
Mean position at program
execution
Mean distance from pro-
grammed position
Tolerance of position B at re-
peated positioning
ii
The values are based on the zero position of axis 3.
AP according to the ISO test above, is the difference between the teached position (position manually
modified in the cell) and the average position obtained during program execution.
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1.8.2 Performance according to ISO 9283
Pos Description
E Programmed path
D Actual path at program execution
AT Max deviation from E to average path
RT Tolerance of the path at repeated
program execution
i
Values
IRB 910INV-3/0.35
0.01
0.01
0.06
1.77
0.61
1 Description
IRB 910INV-6/0.55
0.01
0.01
0.05
1.26
1.05
43