ABB OmniCore IRB 6720 Product Manual page 83

Variant A
IRB 6720-215/2.5 2,201.5
LID
IRB 6720- 2,351.5
215/2.65 LID
IRB 6720-200/2.8 2,452.5
LID
IRB 6720-150/3.1 2,452.5
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
Product manual - IRB 6720
3HAC085697-001 Revision: C
3.3.7 Fitting equipment on the robot (robot dimensions)
B C D
1,132.5 350 1,035
1,132.5 350 1,185
1,182.5 350 1,286
1,485.5 350 1,286
© Copyright 2023 ABB. All rights reserved.
3 Installation and commissioning
E F G
320 345 30
320 345 30
320 345 24
320 345 24
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
Continued
R1a R1b R3
634 525 446
634 525 446
634 525 446
634 525 446
2
Continues on next page
R4
216
216
216
216
83