ABB IRB 6400R - Page 39

Technical specification
Product Specification IRB 6400R M99/BaseWare OS 3.2 29
Handling capacity for IRB 6400R /2.8-150 in press-tending application
Note! Option 090, Cooling for axis 1 motor, must be installed.
The weight and dimensions of the part and gripper are limited by the maximum static
torque and moment of inertia.
Figure 18 A-movement (inward movement).
Figure 19 B-movement.
Static torque: A-movement Axis 5 Ma
5
< 650 Nm
B-movement Axis 4 Mb
4
< 650 Nm
Moment of inertia: A-movement Axis 5, Ja
5
< 105 kgm
2
Axis 6, Ja
6
< 120 kgm
2
B-movement Axis 4, Jb
4
< 105 kgm
2
Axis 5, Jb
5
< 120 kgm
2
Approximations of M and J can be calculated using the following formula:
Ma
5
= 9.81 • (m
g
• r + m
p
• s) (Nm)
Mb
4
= 9.81 • (m
g
• (r + 0.2) + m
p
• (s + 0.2)) (Nm)
Ja
5
= m
g
/ 12 • c
2
+ m
g
• r
2
+ m
p
/ 12 • a
2
+ m
p
• s
2
(kgm
2
)
Ja
6
= m
g
/ 12 • c
2
+ m
g
• r
2
+ m
p
/ 12 • (a
2
+ b
2
) + m
p
• s
2
(kgm
2
)
Jb
4
= m
g
/ 12 • c
2
+ m
g
• (r + 0.2)
2
+ m
p
/ 12 • a
2
+ m
p
• (s + 0.2)
2
(kgm
2
)
Jb
5
= m
g
/ 12 • c
2
+ m
g
• (r + 0.2)
2
+ m
p
/ 12 • (a
2
+ b
2
) + m
p
• (s + 0.2)
2
(kgm
2
)
m
g
= weight of gripper (kg) m
p
= weight of part (kg)
Distances a, b, c, r and s (m) are shown in Figure 20.
Press Press
Movement mainly with axes 1 and 6
Wrist
Part
Part
Press Press
Movement mainly with axes 1, 2, 3 and 4
Wrist
Part
Part