ABB IRB 6650 - 125/3.2 - Page 28

Description
24 Product Specification IRB 6600 M2000
Maximum load and moment of inertia for full and limited axis 5 (centre line down)
movement.
Note. Load in kg, Z and L in m and J in kgm
2
Full movement of axis 5 (±120
o
):
Axis 5
Maximum moment of inertia:
Ja5 = Load • ((Z + 0,200)
2
+ L
2
) + J
0L
≤ 250 kgm
2
for: -225/2.55, -175/2.8, -125/3.2 and
-200/2.75
≤ 195 kgm
2
for: -175/2.55
Axis 6
Maximum moment of inertia:
Ja6 = Load • L
2
+ J
0Z
≤ 185 kgm
2
for: -225/2.55, -175/2.8, -125/3.2 and
-200/2.75
≤ 145 kgm
2
for: -175/2.55
Figure 17 Moment of inertia when full movement of axis 5.
Limited axis 5, centre line down:
Axis 5
Maximum moment of inertia:
Ja5 = Load • ((Z + 0,200)
2
+ L
2
) + J
0L
≤ 275kgm
2
for: -225/2.55, -175/2.8, -125/3.2 and
-200/2.75
≤ 215 kgm
2
for:-175/2.55
Axis 6
Maximum moment of inertia:
Ja6 = Load • L
2
+ J
0Z
≤ 250 kgm
2
for: -225/2.55, -175/2.8, -125/3.2 and
-200/2.75
≤ 195 kgm
2
for: -175/2.55
Figure 18 Moment of inertia when axis 5 centre line down.
Z
X
Centre of gravity
J
0L
= Maximum own moment of inertia
around the maximum vector in the X-Y-plane
J
0Z
= Maximum own moment of inertia around Z
Z
X
Centre of gravity
J
0L
= Maximum own moment of inertia
around the maximum vector in the X-Y-plane
J
0Z
= Maximum own moment of inertia around Z