ABB IRB 6620 - Page 59

WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Floor mounted
Max. load (emergency stop)Endurance load (in operation)Force
± 15.5 kN± 7.3 kNForce xy
11.0 ±3.7 kN11.0 ±2.0 kNForce z
± 37.2 kNm± 18.0 kNmTorque xy
± 10.4 kNm± 4.4 kNmTorque z
Suspended
Max. load (emergency stop)Endurance load (in operation)Force
± 15.5 kN± 7.3 kNForce xy
- 11.0 ±3.7 kN- 11.0 ±2.0 kNForce z
± 37.2 kNm± 18.0 kNmTorque xy
± 10.4 kNm± 4.4 kNmTorque z
Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
NoteValueRequirement
Flat foundations give better repeatability of the
resolver calibration compared to original settings
on delivery from ABB.
0.3 mmFlatness of foundation
surface
The value for levelness aims at the circumstance
of the anchoring points in the robot base.
In order to compensate for an uneven surface,
the robot can be recalibrated during installation.
If resolver/encoder calibration is changed this
will influence the absolute accuracy.
The limit for the maximum payload on the robot
is reduced if the robot is tilted from 0°.
15°Maximum tilt
Contact ABB for further information about accept-
able loads.
Continues on next page
Product manual - IRB 6620 59
3HAC027151-001 Revision: T
© Copyright 2006-2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.1 Pre-installation procedure
Continued