ABB IRB 660 Product Specification

Also see for IRB 660: Operating manual Product manual Product manual

1.7.2 Performance according to ISO 9283GeneralAt rated maximum load, maximum offset and 1.6 m/s velocity on the inclined ISOtest plane, with all six axes in motion. Values in the table below are the averageresult of measurements on a small number of robots. The result may differdepending on where in the working range the robot is positioning, velocity, armconfiguration, from which direction the position is approached, the load directionof the arm system. Backlashes in gearboxes also affect the result.The figures for AP, RP, AT and RT are measured according to figure below.xx0800000424DescriptionPosDescriptionPosProgrammed pathEProgrammed positionAActual path at program executionDMean position at programexecutionBMax deviation from E to average pathATMean distance from pro-grammed positionAPTolerance of the path at repeatedprogram executionRTTolerance of position B at re-peated positioningRPIRB 660-250/3.15IRB 660-180/3.15Description0.200.20Undirectional pose accuracy, AP i (mm)0.050.05Unidirectional pose repeatability, RP (mm)0.170.23Linear path repeatability, RT (mm)2.132.20Linear path accuracy, AT (mm)0.220.17Pose stabilization time PST (s)i AP according to the ISO test above, is the difference between the teached position (position manuallymodified in the cell) and the average position obtained during program execution.The above values are the range of average test results from a number of robots.44 Product specification - IRB 6603HAC023932-001 Revision: X© Copyright 2004-2021 ABB. All rights reserved.1 Description1.7.2 Performance according to ISO 9283