ABB IRB 2600ID Product Manual page 47

Wall mounted
Force
Force xy
Force z
Torque xy
Torque z
Suspended
Force
Force xy
Force z
Torque xy
Torque z
i
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
Product manual - IRB 2600
3HAC035504-001 Revision: AD
Endurance load (in operation)
2750 ±880 N
±1780 N
1470 ±1990 Nm
±1150 Nm
Endurance load (in operation)
i
±2250 N
-2750 ±1420 N
i
±3440 Nm
i
±1110 Nm
Only valid for IRB 2600-20/1.65, IRB 2600-12/1.65, IRB 2600-12/1.85, IRB 2600ID-15/1.85, IRB
2600ID-8/2.0.
IRB 2600-20/1.65 type C, IRB 2600-12/1.65 type C is not available for suspended installation.
Value
0.5 mm
25 Hz
It may affect the
manipulator life-
time to have a
lower resonance
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.
© Copyright 2009-2023 ABB. All rights reserved.
2 Installation and commissioning
Max. load (emergency stop)
2750 ±4600 N
±4560 N
1470 ±5620 Nm
±3130 Nm
Max. load (emergency stop)
±5380 N
i
-2750 ±4280 N
±7800 Nm
±3050 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 circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver/encoder calibration is changed this
will influence the absolute accuracy.
The value is recommended for optimal perform-
ance.
Due to foundation stiffness, consider robot mass
Note
including equipment.
For information about compensating for founda-
tion flexibility, see the application manual of the
controller software, section Motion Process
Mode.
2.2.2 Technical data
Continued
i
i
i
i
i
Continues on next page
47