ABB IRB 6620 - Installation; Introduction

1 Description
1.3.1 Introduction
14 Rev.E 3HAC 025861-001
1.3 Installation
1.3.1 Introduction
General
The IRB 6620 can be mounted on to the floor or inverted. Both can be tilted to ± 15º.
A tool or an end effector with max. weight of 150 kg including payload, can be
mounted on the robot tool flange (axis 6). See Load diagram 1.5.2 Diagrams.
Extra loads
An extra load of 50 kg (for instance DressPack) can be mounted on to the upper arm.
An extra load of 100 kg can be mounted on to the frame. See chapter 1.6 Mounting
of equipment.
Working range limitation
The working range of axis 1 and axis 3 can be limited by mechanical stops as options.
For axis 1 there are four stops and for axis 3 there is one stop. See 3.1.3 Equipment,
working range limit.