Wrist Torque - ABB IRB 6620 Product Specification

Limited axis 5, center line down
Axis Robot Type
5
6
Figure 17 Moment of inertia when axis 5 center line down.
Pos
A
J

1.5.4 Wrist torque

The table below shows the maximum permissible torque due to payload.
.
Note! The values are for reference only, and should not be used for calculating permitted
load offset (position of center of gravity) within the load diagram, since those also are lim-
ited by main axes torques as well as dynamic loads. Also arm loads will influence the per-
mitted load diagram. For finding the absolute limits of the load diagram, please use the ABB
RobotLoad. Please contact your local ABB organization.
Robot type
IRB 6620 - 150/2.20
3HAC 025861-001
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
Maximum moment of inertia
Ja5 = Load x ((Z + 0,200)
≤ 195 kgm
2
Ja6 = Load x L + J
0Z
Max wrist torque Max wrist
axis 4 and 5 torque axis 6
736 Nm 383 Nm
Rev.E
1 Description
1.5.4 Wrist torque
) ≤ 215 kgm
2 2
+ L ) + max (J , J
0x 0y
2
Max torque
valid at load
150 kg
2
29