Product manual

On-Site Installation Installation and Commissioning
14 Product Manual IRB 6400R
2.3 Stress forces
2.3.1 Stiffness
The stiffness of the foundation must be designed to minimize the influence on the
dynamic behaviour of the robot. For optimal performance the frequency of the founda-
tion with the robot weight must be higher than 22 Hz.
TuneServo can be used for adapting the robot tuning to a non-optimal foundation.
2.3.2 All versions
Endurance load Max. load
(In operation) (Emergency stop)
Force xy ±14 000 N ±38 000 N
Force z 22 000 ±8 000 N 22 000 ±19 000 N
Torque xy ± 34 000 Nm ±61 000 Nm
Torque z ±7 000 Nm (±12 000 Nm*) ±15 000 Nm
Force xy and torque xy are vectors that can have any direction in the xy plane.
Figure 8 The directions of the stress forces.
Z
Y
X