Kuka KR AGILUS sixx, Руководство по сборке

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Issued: 28.03.2013 Version: MA KR AGILUS sixx V8 en (PDF)
KR AGILUS sixx
4.3 Payloads, KR 6 sixx
Payloads
A distinction is made between the nominal and maximum payload. At the nom-
inal payload, the manipulator is rated for optimal cycle times and accuracy.
Load center of
gravity P
For all payloads, the load center of gravity refers to the distance from the face
of the mounting flange on axis 6. Refer to the payload diagram for the nominal
distance.
Payload diagram
Permissible mass inertia at the design point (L
x
, L
y
, L
z
) is 0.045 kgm².
The following figure ( >>> Fig. 4-5 ) shows payload diagram for the following
robots:

KR 6 R900 sixx

KR 6 R900 sixx W

KR 6 R900 sixx C
Robot KR 6 R900 sixx
KR 6 R900 sixx W
KR 6 R900 sixx C
In-line wrist IW 6/10 R900
Nominal payload 3 kg
Max. payload 6 kg
Distance of the load center of gravity L
xy
60 mm
Distance of the load center of gravity L
z
80 mm
Max. total load 6 kg
Supplementary load The sum of all loads
mounted on the robot must
not exceed the maximum
total load.