2.3.10 Fitting equipment
General
Extra loads can be fitted on the upper arm housing, the lower arm, and on the
frame. Definitions of distances and masses are shown in the following figures. The
robot is supplied with holes for fitting extra equipment (see figure in Holes for fitting
extra equipment on page 86). Maximum allowed arm load depends on center of
gravity of arm load and robot payload.
Frame (hip load)
Extra load can be fitted on the frame.
Description
J
H
= 200 kgm
2
Permitted extra load on frame
J
H
= J
H0
+ M4 x R
2
Recommended position (see the fol-
lowing figure)
where:
• J
H0
is the moment of inertia of the equipment
• R is the radius (m) from the center of axis 1
• M4 is the total mass (kg) of the equipment
including bracket and harness (≤ 500 kg)
xx1400002873
Continues on next page
84 Product manual - IRB 8700
3HAC052853-001 Revision: F
© Copyright 2015-2018 ABB. All rights reserved.
2 Installation and commissioning
2.3.10 Fitting equipment
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