2.4.8 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 Holes for fitting
extra equipment on page 91). Maximum allowed arm load depends on center of
gravity of arm load and robot payload.
Note
All equipment and cables used on the robot, must be designed and fitted not to
damage the robot and/or its parts.
Frame (hip load)
Extra load can be fitted on the frame.
Description
J
H
= 100 kgm
2
Permitted extra load on frame
J
H
= J
H0
+ M4 x R
2
Recommended position (see the fol-
lowing figure)
where:
• J
H0
is the moment of inertia of the equipment
• 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)
Continues on next page
88 Product manual - IRB 6700
3HAC044266-001 Revision: N
© Copyright 2013 - 2018 ABB. All rights reserved.
2 Installation and commissioning
2.4.8 Fitting equipment to the robot
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