3 Unpacking
3.0.1 Pre-installation procedure
28 A 3HAC 16245-1
Loads on founda-
tion, manipulator
The table below shows the various forces and torques working on the manipulator during
different kinds of operation.
NOTE! These forces and torques are extreme values that are rarely encountered during oper-
ation. The values also never reach their maximum simultaneously!
Requirements on
foundation,
manipulator
The table below shows the requirements for the foundation where the manipulator is to be
fitted:
Storage condi-
tions, manipula-
tor
The table below shows the allowed storage conditions for the manipulator:
Operating condi-
tions, manipula-
tor
The table below shows the allowed operating conditions for the manipulator:
Force
Endurance load
(in operation)
Max. load
(at emergency stop)
Force xy ±10.1 kN ±20.7 kN
Force z 18.0 ±13.8 kN 18.0 ±22.4 kN
Torque xy ±27.6 kNm ±50.6 kNm
Torque z ±7.4 kNm ±14.4 kNm
Requirement Value Note
Min. levelity 0.5 mm
Max. tilt 5° The limit for the maximum payload on the
manipulator is reduced if the manipulator is
tilted from 0°.
Contact ABB for further information about
acceptable payload.
Min. resonance frequency 22 Hz
Parameter Value
Min. ambient temperature -25°C
Max. ambient temperature +55°C
Max. ambient temperature (less than 24 hrs) +70°C
Max. ambient humidity Max. 95% at constant temperature
Parameter Value
Min. ambient temperature +5°C
Max. ambient temperature +50°C
Max. ambient humidity Max. 95% at constant temperature
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