Loads on foundation, robotThe illustration shows the directions of the robots stress forces. The directions arevalid for all floor mounted and suspended robots.xyxyzzTFFTxx1100000521Force in any direction in the XY planeFxyForce in the Z planeFzBending torque in any direction in the XY planeTxyBending torque in the Z planeTzThe table shows the various forces and torques working on the robot during differentkinds of operation.NoteThese forces and torques are extreme values that are rarely encountered duringoperation. The values also never reach their maximum at the same time!Floor mountedMax. load (emergency stop)Endurance load (in operation)Force± 19.8 kN± 7.4 kNForce xy14.6 ± 15.7 kN14.6 ± 4.5 kNForce z± 37.1 kNm± 21.0 kNmTorque xy± 11.4 kNm± 5.0 kNmTorque zContinues on next page3HAC044266-001 Revision: - 53© Copyright 2013 ABB. All rights reserved.2 Installation and commissioning2.2.1 Pre-installation procedureContinued
