ABB IRB 6400R Product On-Line Manual page 41

Mounting equipment
Extra loads can be mounted on the upper arm and the frame. Definitions of distances
and masses are shown in Figure 21 and Figure 22.
The robot is supplied with holes for mounting extra equipment (see Figure 23).
Upper arm - Balancing unit type A
IRB 6400R /2.5-120, /2.5-150, /2.5-200, /2.8-150 and /2.8-200
IRB 6400R /3.0-100
Upper arm - Balancing unit type B
IRB 6400R /2.5-120, /2.5-150, /2.5-200 and /2.8-150
/
Product Specification IRB 6400R M99/BaseWare OS 3.2
Permitted extra load on upper arm plus the maximum handling weight
(See Figure 21):
M1 ≤50 kg with distance a ≤500 mm, centre of gravity in axis 3 extension
or
M2 ≤50 kg with distance b ≤400 mm
or
M3 ≤15 kg with distance c ≥300 mm
If the handling weight is lower than the maximum weight, M1 alt. M2 can
be increased as follows:
(M1 alt. M2 + handling weight) ≤ (50 kg + max. handling weight).
For example, if the handling weight for 2.5-150 is only 120 kg, M2 can be
80 kg.
Permitted extra load on upper arm (See Figure 21):
M1 ≤50 kg with distance a ≤500 mm, centre of gravity in axis 3 extension
or
M2 ≤20 kg with distance b ≤400 mm
or
M3 ≤5 kg with distance c ≥300 mm
Permitted extra load on upper arm plus the maximum handling weight
(See Figure 21):
M1 ≤70-155 kg with distance a ≤ 500 mm, centre of gravity in axis 3
extension, see Note 1.
or
M2 ≤50 kg with distance b ≤400 mm, see Note 1.
or
M3 ≤15 kg with distance c ≥300 mm, see Note 1.
If the handling weight is lower than the maximum weight, M1 alt. M2 can
be increased as follows:
(M1 + handling weight) ≤ (155 kg + max. handling weight).
(M2 + handling weight) ≤ (50 kg + max. handling weight).
For example, if the handling weight for 2.5-150 is only 120 kg, M2 can be
80 kg.
Note 1. Handling weight + extra load on upper arm must always be >70kg
M3
M1 M2
b c
Figure 21 Permitted extra load on upper arm.
Technical specification
a
Mass
centre
M1
31