Performance According To Iso 9283 - ABB IRB 6660 Product Specification

1 Description

1.7.2 Performance according to ISO 9283

1.7.2 Performance according to ISO 9283
General
At rated 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
IRB 6660
Pose accuracy, AP
Pose repeatability, RP (mm)
Pose stabilization time, PSt (s)
Path accuracy, AT (mm)
Path repeatability, RT(mm)
a. 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.
The above values are the range of average test results from a number of robots.
52
Description
Programmed position
Mean position at program
execution
Mean distance from pro-
grammed position
Tolerance of position B at re-
peated positioning
a
(mm)
© Copyright 2004-2023 ABB. All rights reserved.
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
130/3.1 100/3.3
0.05 0.05
0.11 0.10
0.69 1.41
1.88 2.07
0.88 1.08
Product specification - IRB 6660
3HAC087212-001 Revision: A
205/1.9
0.18
0.07
0.18
2.47
0.61