2 Installation and commissioning
2.1.4 Stress Forces
42 3HAC026320-001 Revision: A
2.1.4 Stress Forces
Stiffness
The stiffness of the foundation must be designed to minimize the influence on the dynamic
behaviour of the robot.
TuneServo can be used for adapting the robot tuning to a non-optimal foundation.
IRB 1400
Fxy and Mxy are vectors that can have any direction in the xy plane.
Figure 4: The Directions of the Stress Forces.
Force Endurance load (in operation) Max. load (emergency stop)
Fxy ± 1500 N ± 2000 N
Fz (upright) 2800 ± 500 N 2800 ± 700 N
Fz (suspended) -2800 ± 800 N -2800 ± 1000 N
Torque Endurance load (in operation) Max. load (emergency stop)
Mxy ± 1800 Nm ± 2000 Nm
Mz ± 400 Nm ± 500 Nm
X
Z
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