ABB IRB 6620 - Load Diagrams; Introduction

1 Description
1.5.1 Introduction
3HAC 025861-001 Rev.E 25
1.5 Load diagrams
1.5.1 Introduction
If incorrect load data and/or loads outside load diagram is used the following parts
can be damaged due to overload:
• motors
• gearboxes
• mechanical structure
General
The load diagrams include a nominal payload inertia, J
0
of 15 kgm
2
, and an extra load
of 50 kg at the upper arm housing.
At different arm load, payload and moment of inertia, the load diagram will be
changed.
Control of load case by “RobotLoad”
For an easy check of a specific load case, use the calculation program ABB
RobotLoad. Please contact your local ABB organization.
It is very important to always define correct actual load data and correct
payload of the robot. Incorrect definitions of load data can result in
overloading of the robot.
Robots running with incorrect load data and/or with loads outside load
diagram will not be covered by the robot warranty.