ABB IRB 6620 - Page 29

1 Description
1.5.2 Diagrams
3HAC 025861-001 Rev.E 27
IRB 6620-150/2.2 “Vertical Wrist” (±10
o
)
Figure 15 Maximum permitted load mounted on the robot tool flange at different positions (center of
gravity) at “Vertical Wrist” (±10
o
), J
0
=15 kgm
2
.
For wrist down (0
o
deviation from the vertical line).
Without extra arm load With 50 kg arm load
Max load 215 kg 180 kg
Z
max
0.26 m 0.34 m
L
max
0.088 m 0.066 m