ABB Robotics IRB 1200, Product Specification

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1.8.2 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
Description Position Description Position
Programmed path E Programmed position A
Actual path at program execution D Mean position at program
execution B
Max deviation from E to average path AT Mean distance from pro-
grammed position AP
Tolerance of the path at repeated
program execution RT Tolerance of position B at re-
peated positioning RP
Values Description
IRB 1200-7/0.7 IRB 1200 - 5/0.9
0.02 0.025 Pose repeatability, RP (mm)
0.02 0.02 Pose accuracy, AP (mm)
0.02 0.07 Linear path repeatability, RT (mm)
0.77 0.53 Linear path accuracy, AT (mm)
0.057 0.113 Pose stabilization time, Pst (s) within 0.1 mm of the
position
Product specification - IRB 1200 43
3HAC046982-001 Revision: G
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1 Description
1.8.2 Performance according to ISO 9283