Kuka KR 16-2 - Load Curves for KR 6, KR 16 L6

4 Technical data (continued)
31 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
Notice!
These loading curves correspond to the maximum
load capacity. Both values
(payload and principal moment of inertia) must be checked in all cases.
Exceeding this capacity will reduce the service life of the robot and generally
overload the motors and the gears; in any such case KUKA must be consulted
beforehand.
Information!
The values determined here are necessary for planning the application.
For commissioning the industrial robot, additional input data are required in accordance
with the KUKA software documentation.
Robot flange coordinate system
-- X
Lz
Lx
Ly
+X
-- Y
+Y
+Z
-- Z
Load center of gravity P
Lxy = L

x
2
+ Ly
2
Lxy
Permissible mass inertia at the
design point
(Lxy = 100 mm,
Lz = 120 mm)
0.18 kgm
2
.
CAUTION: The mass inertia must be
verified using KUKA Load. It is
imperative for the load data to be
entered in the controller!
Lxy (mm)
100 200 300 400
100
200
Lz (mm)
4kg
5kg
3kg
6kg
KR 6, KR 16 L6
A4
A5
A6
Fig. 16 Load center of gravity P and loading curves for KR 6, KR 16 L6