ABB IRB 6400R Product On-Line Manual page 42

Technical specification
Frame (Hip Load)
Mounting of hip load
The extra load can be mounted either on the fork lift device or on the frame. Holes for
mounting see Figure 24.
When mounting on the frame all the six holes (2x3,
32
Permitted extra load on frame is J
Recommended position (see Figure 22).
2
J = J + M4 • R
H H0
where J
H0
R
M4
R R
View from above
Figure 22 Extra load on frame of IRB 6400R (dimensions in mm).
Product Specification IRB 6400R M99/BaseWare OS 3.2
= 120 kgm
H
is the moment of inertia of the equipment
is the radius (m) from the centre of axis 1
is the total mass (kg) of the equipment including
bracket and harness (≤320 kg)
M4
J
H0
914
754
View from the rear
∅
2
.
400
18 ) on one side must be used.