Technical specification
32 Product Specification IRB 6400R M99/BaseWare OS 3.2
Frame (Hip Load)
Permitted extra load on frame is J
H
= 120 kgm
2
.
Recommended position (see Figure 22).
J
H
= J
H0
+ M4 • R
2
where J
H0
is the moment of inertia of the equipment
R is the radius (m) from the centre of axis 1
M4 is the total mass (kg) of the equipment including
bracket and harness (≤320 kg)
Figure 22 Extra load on frame of IRB 6400R (dimensions in mm).
Mounting of hip load
The extra load can be mounted either on the fork lift device or on the frame. Holes for
mounting see Figure 24.
When mounting on the frame all the six holes (2x3, ∅18 ) on one side must be used.
400
R
R
M4
J
H0
View from above View from the rear
914
754
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