2 Installation and commissioning
2.2.1. Pre-installation procedure
39 3HAC022032-001 Revision: E
© Copyright 2004-2008 ABB. All rights reserved.
Loads on foundation, robot - all versions except IRB 4400/S and 4450S
The table below shows the various forces and torques working on the robot during different
kinds of operation. Stress forces for the robot versions IRB 4400/S and IRB 4450S are
detailed separately in the following tables.
Note! These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
The rigidity of the foundation must be designed to minimize the affects of dynamic behaviour
on the robot. For optimal performance, the frequency for the foundation bearing the robot
must be higher than 30 Hz.
TuneServo can be used to adapt robot tuning for a non-optimal foundation.
Fxy and Mxy are vectors that can have any direction on the xy plane.
The illustration below shows the directions of the stress forces.
xx0300000254
Force Endurance load (in operation) Max. load (emergency stop)
Force xy ± 7500 N ± 9000 N
Force z +9500 ± 2000 N +9500 ± 3000 N
Torque xy ± 14000 Nm ± 16000 Nm
Torque z ± 2000 Nm ± 4000 Nm
Continued
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