Kuka KR 30 HA, Assembly Instructions Manual

Page: 31 / 122

4 Technical data (continued)
31 of 122 MA KR 30, 60 HA, KR C4 04.11.02 en
Information!
The values determined here are necessary for planning the application.
For commissioning the robot, additional input data are required in accordance with the
KUKA software documentation.
--X
Lz
Lx
Ly
+X
--Y
+Y
+Z
--Z
Load center of gravity
Lxy
Lxy
=
L

x 2
+
Ly 2
Robot flange coordinate system
Permissible mass inertia at the
design point
(Lxy = 180 mm,
Lz = 150 mm)
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)
100 200 300 400 500 700 600
100
200
300
400
Lz (mm)
500
A4
A5
A6
KR 60 HA
60 kg
55 kg
35 kg
50 kg
45 kg
40 kg
25 kg
30 kg
Fig. 15 Load center of gravity P and loading curves for KR 60 HA