Maximum Load And Moment Of Inertia For Full And Limited Axis 5 (Center Line Down); Movement - ABB IRB 6620 Product Specification

1 Description
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of inertia (J
J
Full movement of axis 5
Axis Robot Type
5
6
Figure 16 Moment of inertia when full movement of axis 5.
Pos
A
J
28
. L = √(X
2 2 2
) in kgm + Y ), see Figure 16
oz
IRB 6620-150/2.2
IRB 6620-150/2.2
Description
Center of gravity.
Description
, J , J Max. moment of inertia around the X, Y and Z axes at center of gravity.
ox oy oz
Rev.E
Maximum moment of inertia
2
Ja5 = Load x ((Z + 0,200)
≤ 107 kgm
2
Ja6 = Load x L + J
0Z
) ≤ 138 kgm
2
+ L ) + max (J , J
0x 0y
2
3HAC 025861-001
, J ,
ox oy
2