大负载机器人的J2轴通常会配平衡缸，有的采用液压平衡，有的采用弹簧平衡，下面是KUKA KR600机器人J2轴平衡缸的结构组成和规格参数。
液压平衡缸结构成
| Pos. | Article number | Designation | Quantity |
| 1 | 0000-238-716 | Counter Balance System KR600 | 1 |
| 2 | 0000-188-524 | bolt | 1 |
| 3 | 0000-178-906 | ring | 1 |
| 4 | 0000-108-076 | Disc | 1 |
| 5 | 0000-100-426 | Disc | 1 |
| 6 | 0000-382-896 | Cover | 1 |
| 7 | 0057-750-406 | Conical spring washer 8,4x18x2 | 6 |
| 8 | 0055-361-441 | Hexagon socket head cap screw M8x20 | 6 |
| 9 | 0000-104-219 | Washer for clamping devices 10,5x28x4 | 1 |
| 10 | 0055-361-916 | Hexagon socket head cap screw M10x35 | 1 |
| 11 | 0000-189-882 | Washer | 1 |
| 12 | 0000-189-874 | Bolt | 1 |
| 13 | 0055-353-316 | Allen screw M16x45 | 1 |
液压平衡缸规格参数
| Counterbalancing system type | Hydropneumatic |
| Mounting position | Floor |
| Environment version | Standard (-) |
| Default color | Black (RAL 9005) |
| Number of pressure bladders | 2 |
| Rated volume per pressure bladder | 3.5 l |
| Gas pressure p0 | 145 bar |
| Rated temperature | 20 °C |
| Nitrogen mass | 1.166 kg |
| Classification according to Pressure Equipment Directive (2014/68/EU) | Fluid group 2, category III |
| Oil pressure p1 | 170 bar |
The oil pressure p1 refers to the axis position A2 = -90°.
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