I'm new to industrial robotic arms and am looking at the KR 6R 900 Sixx. Our preferred payload is about 5 kg with inertias (Ixx/Iyy/Izz) of 0.25 / 0.25 / 0.4 kgm^2. We can remove some of the hardware to get the payload down to 2 kg with 0.1/0.1/0.1 kgm^2 inertias if necessary.
We have very low speed requirements and are only using this arm as a convenient method of pointing a large panel instead of building a custom two axis frame with rotary actuators. Our reach requirements are also small as we're only using the arm to orientation the panel.
The Kuka.Load program indicates everything is OK statically but that Axes 4, 5, and 6 are dynamically overloaded.
My question is whether there will be a way to reduce the robot maximum speeds for each axes to very low values such that the robot can still slowly position this large inertial load without exceeding dynamic limits in practice, or will the software detect the large inertia and refuse to move?
