ABB IRB 910INV Product Specification

Also see for IRB 910INV: Operating manual Product manual

Force 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!WARNINGThe robot installation is restricted to the mounting options given in following loadtable(s).InvertedMax. load (emergency stop)Endurance load (in operation)Force±770/710 N±420/440 NForce xy190 ±660/220 ±110 N190 ±135/220 ±200 NForce z±220/320 Nm±220/170 NmTorque xy±160/190Nm±90/125 NmTorque zRequirements, foundationThe table shows the requirements for the foundation where the weight of theinstalled robot is included:NoteValueRequirementFlat foundations give better repeatability ofthe resolver calibration compared to originalsettings on delivery from ABB.0.1/500 mmFlatness of foundationsurfaceThe value for levelness aims at the circum-stance of the anchoring points in the robotbase.In order to compensate for an uneven sur-face, the robot can be recalibrated during in-stallation. If resolver/encoder calibration ischanged this will influence the absolute ac-curacy.The value is recommended for optimal per-formance.22 HzNoteIt may affect the ma-nipulator lifetime tohave a lower reson-ance frequency thanrecommended.Minimum resonancefrequencyDue to foundation stiffness, consider robotmass including equipment. iFor information about compensating forfoundation flexibility, see the description ofMotion Process Mode in the manual that de-scribes the controller software option, seeReferences on page 7.Continues on next page14 Product specification - IRB 910INV3HAC068057-001 Revision: M© Copyright 2019-2023 ABB. All rights reserved.1 Description1.1.2.1 Technical dataContinued