Fitting Equipment - ABB IRB 8700 Series Product Manual

2 Installation and commissioning

2.3.10 Fitting equipment

2.3.10 Fitting equipment
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)
xx1400002873
Continues on next page
84
86). Maximum allowed arm load depends on center of
Description
J
J
where:
R
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2
= 200 kgm
H
2
= J + M4 x R
H H0
• 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 (≤ 500 kg)
Product manual - IRB 8700
3HAC052853-001 Revision: F
Holes for fitting