ABB IRB 920, Технические характеристики товара

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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
6/0.65 6/0.55 6/0.45 IRB 920T
0.01 0.01 0.01 Pose accuracy, AP
i
(mm)
0.02 0.02 0.01 Pose repeatability, RP (mm)
0.16 0.17 0.17 Pose stabilization time, PSt (s) within 0.1
mm of the position
0.83 1.30 0.93 Path accuracy, AT (mm)
0.03 0.03 0.03 Path repeatability, RT (mm)
i
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.
40 Product specification - IRB 920
3HAC075723-001 Revision: A
© Copyright 2021 ABB. All rights reserved.
1 Description
1.8.2 Performance according to ISO 9283