ABB IRB 120 User Manual

Wall mounted
Max. load (emergency stop)Endurance load (in operation)Force
±735 N±470 NForce xy
0 ±630 N0 ±200 NForce z
±450 Nm±240 NmTorque xy
±175 Nm±90 NmTorque z
Suspended
Max. load (emergency stop)Endurance load (in operation)Force
±515 N±265 NForce xy
265 ±365 N265 ±200 NForce z
±400 Nm±195 NmTorque xy
±155 Nm±85 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.
5°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 IRC5, section Motion Process Mode.
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 25 Hz. 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:
ValueParameter
-25° CMinimum ambient temperature
Continues on next page
58 Product manual - IRB 120
3HAC035728-001 Revision: N
© Copyright 2009-2017 ABB. All rights reserved.
2 Installation and commissioning
2.2.1 Pre-installation procedure
Continued

ABB IRB 120 Specifications

General

Type	Industrial Robot
Axes	6
Payload	3 kg
Reach	580 mm
Repeatability	±0.01 mm
Weight	25 kg
Protection	IP40
Controller	IRC5 Compact
Power Consumption	0.25 kW
Mounting	Floor, Wall
Operating Temperature	5°C to 45°C