Description
Product Specification IRB 6600 M2000 25
Mounting equipment
Extra loads can be mounted on the upper arm housing, the lower arm, and on the frame.
Definitions of distances and masses are shown in Figure 19 and Figure 20.
The robot is supplied with holes for mounting extra equipment (see Figure 21).
Maximum permitted arm load depends on centre of gravity of arm load and robot
payload.
Upper arm
Permitted extra load on upper arm housing plus the maximum handling
weight (See Figure 19):
M1 ≤50 kg with distance a ≤500 mm, centre of gravity in axis 3 extension.
/
Figure 19 Permitted extra load on upper arm.
Frame (Hip Load)
Permitted extra load on frame is J
H
= 200 kgm
2
Recommended position (see Figure 20).
J
H
= J
H0
+ M4 • R
2
where J
H0
is the moment of inertia of the equipment
R is the radius (m) from the centre of axis 1
M4 is the total mass (kg) of the equipment including
bracket and harness (≤500 kg)
Figure 20 Extra load on the frame of IRB 6600 (dimensions in mm).
Mass
centre
a
M1
M1
View from above View from the rear
527
1195
790
457
R
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