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Handling capacity for IRB 6400R /2.8-150 in press-tending application
Note! Option 090, Cooling for axis 1 motor, must be installed.
The weight and dimensions of the part and gripper are limited by the maximum static
torque and moment of inertia.
Part
Static torque:
Moment of inertia:
Approximations of M and J can be calculated using the following formula:
Ma
= 9.81 • (m
5
Mb
= 9.81 • (m
4
Ja
= m
/ 12 • c
5
g
Ja
= m
/ 12 • c
6
g
Jb
= m
/ 12 • c
4
g
Jb
= m
/ 12 • c
5
g
m
= weight of gripper (kg)
g
Distances a, b, c, r and s (m) are shown in Figure 20.
Product Specification IRB 6400R M99/BaseWare OS 3.2
Figure 18 A-movement (inward movement).
Part
Figure 19 B-movement.
A-movement
B-movement
A-movement
B-movement
• r + m
• s)
g
p
• (r + 0.2) + m
• (s + 0.2))
g
p
2
2
+ m
• r
+ m
/ 12 • a
g
p
2
2
+ m
• r
+ m
/ 12 • (a
g
p
2
2
+ m
• (r + 0.2)
+ m
g
2
2
+ m
• (r + 0.2)
+ m
g
m
Technical specification
Press
Part
Movement mainly with axes 1 and 6
Press
Part
Movement mainly with axes 1, 2, 3 and 4
Axis 5 Ma
< 650 Nm
5
Axis 4 Mb
< 650 Nm
4
Axis 5, Ja
< 105 kgm
5
Axis 6, Ja
< 120 kgm
6
Axis 4, Jb
< 105 kgm
4
Axis 5, Jb
< 120 kgm
5
2
2
+ m
• s
p
2
2
2
+ b
) + m
• s
p
2
/ 12 • a
+ m
• (s + 0.2)
p
p
2
2
/ 12 • (a
+ b
) + m
p
= weight of part (kg)
p
Wrist
Press
Wrist
Press
2
2
2
2
(Nm)
(Nm)
(kgm
(kgm
2
(kgm
2
• (s + 0.2)
(kgm
p
2
)
2
)
2
)
2
)
29
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