2 Installation and Commissioning
2.3.3. Pre-installation procedure
353HAC030005-001 Revision: -
© Copyright 2006 ABB. All rights reserved.
Requirements, foundation
The subsections below show the requirements for the foundation regarding stiffness and
forces.
Stiffness
The stiffness of the frame must be designed to minimize the influence on the dynamic
behavior of the robot. It is recommended that a frame with a lowest natural frequency (with
the robot mounted in the frame) higher than 17 Hz is used. TuneServo can be used for
adapting the robot tuning to a non-optimal foundation.
Forces
Maximum force in each fixing point are 500 N referring to the z-direction in the base
coordinate system, regarding coordinate system see the Product Specification for IRB 340. A
robot frame is not included in the delivery.
Storage conditions
The table below shows the allowed storage conditions for the robot.
Operating conditions
The table below shows the allowed operating conditions for the robot.
Protection classes
The table below shows the protection class of the robot.
Parameter Value
If the equipment is not going to be installed
straight away, it must be stored in a dry area
at an ambient temperature between -
25°C (13°F) and +55°C (131°F).
Parameter Value
Ambient temperature + 5°C (41°F) to +52°C (125°F) (manipulator)
Relative humidity Max. 95% at constant temperature
Equipment Protection class
Standard (Std.) IP 56
Wash-down (WD) IP 69K
Wash-down Stainless (WDS) IP 69K
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