ABB IRB 6620LX Product Manual page 50

2 Installation and commissioning
2.3.1 Pre-installation procedure
Continued
Loads on foundation, robot
The forces specified are forces from the robot acting on the beam. For leg
dimensioning, the beam mass needs to be added. The beam mass is specified in
Product specification - Linear Axis.
xx1000000055
The table shows the various forces and torques working on the robot during different
kinds of operation.
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50
Note
The weight does not include tools and other equipment fitted on the robot.
Force
(F ) z
z
Note
These forces and torques are extreme values that are rarely encountered during
operation. The values also never reach their maximum at the same time!
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Torque X
Force
(F ) y
y
Y
Z
Torque Z
Force
x
Force
(F ) z
z
Torque Y
(F ) x
X
Z
Product manual - IRB 6620LX
3HAC035737-001 Revision: P