ABB IRB 910INV, Product Specification

Page: 43 / 90

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
Description Pos Description Pos
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
i
Description
IRB 910INV-6/0.55 IRB 910INV-3/0.35
0.01 0.01 Pose repeatability, RP (mm)
0.01 0.01 Pose accuracy, AP (mm)
ii
0.05 0.06 Linear path repeatability, RT (mm)
1.26 1.77 Linear path accuracy, AT (mm)
1.05 0.61 Pose stabilization time, PSt (s) within
0.1 mm of the position
i
The values are based on the zero position of axis 3.
ii
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.
Product specification - IRB 910INV 43
3HAC068057-001 Revision: M
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1 Description
1.8.2 Performance according to ISO 9283