ABB IRB 910INV, Product Specification

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Force in any direction in the XY plane F
xy
Force in the Z plane F
z
Bending torque in any direction in the XY plane T
xy
Bending torque in the Z plane T
z
The table shows the various forces and torques working on the robot during different
kinds of operation.
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Inverted
Max. load (emergency stop) Endurance load (in operation) Force
±770/710 N ±420/440 N Force xy
190 ±660/220 ±110 N 190 ±135/220 ±200 N Force z
±220/320 Nm ±220/170 Nm Torque xy
±160/190Nm ±90/125 Nm Torque z
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Note Value Requirement
Flat foundations give better repeatability of
the resolver calibration compared to original
settings on delivery from ABB. 0.1/500 mm Flatness of foundation
surface
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. 22 Hz
Note
It may affect the ma-
nipulator lifetime to
have a lower reson-
ance frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot
mass including equipment.
i
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 7 .
Continues on next page
14 Product specification - IRB 910INV
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
1 Description
1.1.2.1 Technical data
Continued