ABB IRB 930, Руководство по эксплуатации продукта

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Floor mounted
Maximum load (emergency stop) Endurance load (in operation) Force
±2000 N IRB 930-12/0.85: ±1200 N Force xy
IRB 930-12/1.05: ±1000 N
IRB 930-22/1.05: ±1000 N
IRB 930-12/0.85: ±1200 N IRB 930-12/0.85: ±815 N Force z
IRB 930-12/1.05: ±1300 N IRB 930-12/1.05: ±950 N
IRB 930-22/1.05: ±1300 N IRB 930-22/1.05: ±950 N
IRB 930-12/0.85: ±1310 Nm IRB 930-12/0.85: ±650 Nm Torque xy
IRB 930-12/1.05: ±1550 Nm IRB 930-12/1.05: ±800 Nm
IRB 930-22/1.05: ±1550 Nm IRB 930-22/1.05: ±800 Nm
IRB 930-12/0.85: ± 510 Nm IRB 930-12/0.85: ±255 Nm Torque z
IRB 930-12/1.05: ±520 Nm IRB 930-12/1.05: ±250 Nm
IRB 930-22/1.05: ±520 Nm IRB 930-22/1.05: ±250 Nm
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 10 .
150 MPa Minimum foundation
material yield strength
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.
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40 Product manual - IRB 930
3HAC086009-001 Revision: A
© Copyright 2023 ABB. All rights reserved.
2 Manipulator description
2.2 Technical data
Continued