ABB OmniCore IRB 6720 Product Manual

Requirements, 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.0.3 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 10.i The minimum resonance frequency given should be interpreted as the frequency of the robotmass/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 shouldnot be interpreted as the resonance frequency of the building, floor etc. For example, if the equivalentmass of the floor is very high, it will not affect robot movement, even if the frequency is well belowthe 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 hasresonance 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 therequirements from the applications. If this is a problem, the robot needs to be isolated from theenvironment.Storage conditions, robotThe table shows the allowed storage conditions for the robot:ValueParameter-25°CMinimum ambient temperature55°CMaximum ambient temperature70°CMaximum ambient temperature (less than 24 hrs)95%Maximum ambient humidityOperating conditions, robotThe table shows the allowed operating conditions for the robot:ValueParameter5°C iMinimum ambient temperature50°CMaximum ambient temperature95% at constant temperatureMaximum ambient humidityi At low environmental temperature < 10ºC is, as with any other machine, a warm-up phaserecommended to be run with the robot. Otherwise there is a risk that the robot stops or run withlower performance due to temperature dependent oil and grease viscosity.Continues on next pageProduct manual - IRB 6720 393HAC085697-001 Revision: C© Copyright 2023 ABB. All rights reserved.2 Manipulator description2.1 Technical dataContinued