Fitting Equipment To The Robot - ABB IRB 6700Inv Series Product Manual

2.4.6 Fitting equipment to the robot

General
Extra loads can be fitted on the upper arm housing, the lower arm, and on the
frame. Definitions of distances and masses are shown in the following figures. The
robot is supplied with holes for fitting extra equipment (see figure in
extra equipment on page
gravity of arm load and robot payload.
Frame (hip load)
Extra load can be fitted on the frame.
Permitted extra load on frame
Recommended position (see the fol-
lowing figure)
Product manual - IRB 6700Inv
3HAC058254-001 Revision: L
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
© Copyright 2017 - 2020 ABB. All rights reserved.
2 Installation and commissioning
2.4.6 Fitting equipment to the robot
74). Maximum allowed arm load depends on center of
Description
2
J = 100 kgm
H
J = J + M4 x R
H H0
where:
• J is the moment of inertia of the equipment
H0
• R is the radius (m) from the center of axis 1
• M4 is the total mass (kg) of the equipment
including bracket and harness (≤ 250 kg)
Holes for fitting
2
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