Fitting Equipment To The Robot; Frame (Hip Load) - ABB IRB 6700 Product Manual

2.4.8 Fitting equipment to the robot

General
Extra loads can be fitted on the upper arm housing, the lower arm, and on the
frame. Definitions of distances and masses are shown in the following figures. The
robot is supplied with holes for fitting extra equipment (see figure in
extra equipment on page
gravity of arm load and robot payload.

Frame (hip load)

Extra load can be fitted on the frame.
Permitted extra load on frame
Recommended position (see the fol-
lowing figure)
xx1300000262
3HAC044266-001 Revision: -
89). Maximum allowed arm load depends on center of
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2 Installation and commissioning
2.4.8 Fitting equipment to the robot
Description
2
J = 100 kgm
H
2
J = J + M4 x R
H H0
where:
• J is the moment of inertia of the equipment
H0
• R is the radius (m) from the center of axis 1
• M4 is the total mass (kg) of the equipment
including bracket and harness (≤ 250 kg)
R
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Holes for fitting
87