Requirements, foundation
The table shows the requirements for the foundation where the weight of the
installed robot is included:
Note
Value
Requirement
Flat foundations give better repeatability of
the resolver calibration compared to original
settings on delivery from ABB.
0.3 mm
Flatness of foundation
surface
The value for levelness aims at the circum-
stance of the anchoring points in the robot
base.
In order to compensate for an uneven sur-
face, the robot can be recalibrated during in-
stallation. If resolver/encoder calibration is
changed this will influence the absolute ac-
curacy.
The value is recommended for optimal per-
formance.
22 Hz
Note
It may affect the ma-
nipulator lifetime to
have a lower reson-
ance frequency than
recommended.
Minimum resonance
frequency
Due to foundation stiffness, consider robot
mass including equipment.
i
For information about compensating for
foundation flexibility, see the description of
Motion Process Mode
in the manual that de-
scribes the controller software option, see
i
The minimum resonance frequency given should be interpreted as the frequency of the robot
mass/inertia, robot assumed stiff, when a foundation translational/torsional elasticity is added, i.e.,
the stiffness of the pedestal where the robot is mounted. The minimum resonance frequency should
not be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalent
mass of the floor is very high, it will not affect robot movement, even if the frequency is well below
the stated frequency. The robot should be mounted as rigid as possibly to the floor.
Disturbances from other machinery will affect the robot and the tool accuracy. The robot has
resonance frequencies in the region 10 – 20 Hz and disturbances in this region will be amplified,
although somewhat damped by the servo control. This might be a problem, depending on the
requirements from the applications. If this is a problem, the robot needs to be isolated from the
environment.
Storage conditions, robot
The table shows the allowed storage conditions for the robot:
Value
Parameter
-25°C
Minimum ambient temperature
55°C
Maximum ambient temperature
70°C
Maximum ambient temperature (less than 24 hrs)
95%
Maximum ambient humidity
Operating conditions, robot
The table shows the allowed operating conditions for the robot:
Value
Parameter
5°C
i
Minimum ambient temperature
50°C
Maximum ambient temperature
95% at constant temperature
Maximum ambient humidity
i
At low environmental temperature < 10ºC is, as with any other machine, a warm-up phase
recommended to be run with the robot. Otherwise there is a risk that the robot stops or run with
lower performance due to temperature dependent oil and grease viscosity.
Continues on next page
Product manual - IRB 6720
39
3HAC085697-001 Revision: C
© Copyright 2023 ABB. All rights reserved.
2 Manipulator description
2.1 Technical data
Continued
Summary of Contents for OmniCore IRB 6720
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