Operating Instructions
38 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
The specified forces and moments already include the payload and the inertia force (weight)
of the manipulator.
F
h
F
v
M
k
M
r
F
v
F
v
= Vertical force F
vmax
= 4,600 N
F
h
= Horizontal force F
hmax
= 5,000 N
M
k
= Tilting moment M
kmax
= 5,200 Nm
M
r
= Turning moment about axis 1 M
rmax
= 4,200 Nm
Total mass = manipulator + total load for type
235 kg + 36 kg KR 6
235 kg + 46 kg KR 16
240kg + 36kg KR16L6
Fig. 25 Principal loads acting on the mounting base due to manipulator and total
load for floor-- and ceiling-- mounted manipulators
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