ABB IRB 6710 Product Manual page 76

3 Installation and commissioning
3.3.7 Fitting equipment on the robot (robot dimensions)
Continued
Variant A
IRB 6710- 2,351.5
175/2.95 LID
Extra load on the robot
Extra loads can be mounted on robot. Definitions of dimensions and masses are
shown in the following figures. The robot is supplied with holes for fitting extra
equipment.
Maximum allowed arm load depends on center of gravity of arm load and robot
payload.
Frame
The table and figure shows allowed extra load on the frame.
Permitted extra load on frame
Recommended position (see the fol-
lowing figure)
xx2300000346
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76
B C D
1,445.5 346 1,185
© Copyright 2023 ABB. All rights reserved.
E F G
320 345 30
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)
R
R1a R1b R3
634 525 446
2
Product manual - IRB 6710
3HAC085695-001 Revision: A
R4
200