Kuka KR 6-2 - Page 32

Operating Instructions
32 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
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 = 120 mm,
Lz = 150 mm)
0.36 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)
100 200 300 400 500 600
100
200
300
Lz (mm)
10 kg
12 kg
14 kg
8kg
16 kg
KR 16
A4
A5
A6
Fig. 17 Load center of gravity P and loading curves for KR 16