1.8.2 Performance according to ISO 9283
General
At rated 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
DescriptionPositionDescriptionPosition
Programmed pathEProgrammed positionA
Actual path at program executionDMean position at program
execution
B
Max deviation from E to average pathATMean distance from pro-
grammed position
AP
Tolerance of the path at repeated
program execution
RTTolerance of position B at re-
peated positioning
RP
ValuesDescription
120 - 3/0.6IRB
0.01Pose repeatability, RP (mm)
0.02Pose accuracy, AP
i
(mm)
0.07-0.16Linear path repeatability, RT (mm)
0.21-0.38Linear path accuracy, AT (mm)
0.03Pose stabilization time, Pst (s) within 0.2 mm of the
position
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.
The above values are the range of average test results from a number of robots
Product specification - IRB 120 35
3HAC035960-001 Revision: T
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1 Description
1.8.2 Performance according to ISO 9283
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