ABB IRB 920, Product Specification

Page: 14 / 58

Note Value Requirement
The value is recommended for optimal perform-
ance. 22 Hz
Note
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot mass
including equipment.
i
For information about compensating for founda-
tion flexibility, see
Application manual - Control-
ler software OmniCore , section Motion Process
Mode .
i
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.
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
Value Parameter
-25°C Minimum ambient temperature
55°C Maximum ambient temperature
70°C Maximum ambient temperature (less than 24 hrs)
95% at constant temperature
(gaseous only) Maximum ambient humidity
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Value Parameter
+5ºC
i
Minimum ambient temperature
+45ºC Maximum ambient temperature
5% - 95% non-condensing accord-
ing to IEC61131-2 Maximum ambient humidity
i
At low environmental temperature < 10ºC is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Protection classes, robot
The table shows the available protection types of the robot, with the corresponding
protection class.
Protection class Protection type
IP30
i
Manipulator, protection type Standard
i
The protection class of the ballscrew area is IP20. For more information, please contact ABB.
Continues on next page
14 Product specification - IRB 920
3HAC075723-001 Revision: A
© Copyright 2021 ABB. All rights reserved.
1 Description
1.1.3.1 Technical data
Continued