Bending moment in any direction in Plane XYT
xy
Torsional moment around Axis ZT
z
The table shows the various forces and torques working on the robot during different
kinds of operation.
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!
WARNING
The robot installation is restricted to the mounting options given in following load
table(s).
Floor mounted
Maximum load (emergency stop)Endurance load (in operation)Force
±1500 N±550 NForce xy
±650 N±550 NForce z
±500 Nm±330 NmTorque xy
±900 Nm±150 NmTorque 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.
0.1/500 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.
0°Maximum tilt
The value is recommended for optimal perform-
ance.
22 Hz
Note
It may affect the
manipulator life-
time to have a
lower resonance
frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot mass
including equipment.
i
For information about compensating for founda-
tion flexibility, see Application manual - Control-
ler software OmniCore, section Motion Process
Mode.
Continues on next page
Product manual - IRB 920 39
3HAC075721-001 Revision: C
© Copyright 2022 ABB. All rights reserved.
2 Manipulator description
2.2 Technical data
Continued
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