Kuka KR 6-2 - Page 74

Operating Instructions
74 of 206
BA KR 6, 16 F, KR C4 12.10.07 en
M
k
M
r
F
M
k
v
F
h
F
v
= Vertical force F
vmax
= 4,600 N
F
h
= Horizontal force F
hmax
= 3,600 N
M
k
= Tilting moment M
kmax
= 4,700 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. 48 Principal loads acting on the mounting base due to manipulator and total load for
wall --mounted manipulators