Fitting Equipment To The Robot - ABB IRB 6700 Series Product Manual

2 Installation and commissioning

2.4.8 Fitting equipment to the robot

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)
Continues on next page
88
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
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91). Maximum allowed arm load depends on center of
Description
2
J = 100 kgm
H
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)
Holes for fitting
2
Product manual - IRB 6700
3HAC044266-001 Revision: N