ABB IRB 6620 - Maximum Load and Moment of Inertia for Full and Limited Axis 5 (Center Line Down); Movement

1 Description
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line down) movement
28 Rev.E 3HAC 025861-001
1.5.3 Maximum load and moment of inertia for full and limited axis 5 (center line
down) movement
Full movement of axis 5
Figure 16 Moment of inertia when full movement of axis 5.
Total load given as: Mass in kg, center of gravity (Z and L) in meter and moment of inertia (J
ox
, J
oy
,
J
oz
) in kgm
2
. L = √(X
2
+ Y
2
), see Figure 16
Axis Robot Type Maximum moment of inertia
5 IRB 6620-150/2.2 Ja5 = Load x ((Z + 0,200)
2
+ L
2
) + max (J
0x
, J
0y
) ≤ 138 kgm
2
6 IRB 6620-150/2.2 Ja6 = Load x L
2
+ J
0Z
≤ 107 kgm
2
Pos Description
A Center of gravity.
Description
J
ox
, J
oy
, J
oz
Max. moment of inertia around the X, Y and Z axes at center of gravity.