ABB DressPack IRB 6640, Product Manual

Page: 167 / 370

Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Lower arm - axis 2
0.550 -0.550 0 13.1 IRB 6640 - 205/2.75
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Upper arm - axis 3
0.08 -0.025 -0.25 8 IRB 6640 - 180/2.55
0.08 -0.025 -0.25 8 IRB 6640 - 235/2.55
0.08 -0.025 -0.25 8 IRB 6640 - 185/2.8
0.08 -0.025 -0.25 8 IRB 6640 - 205/2.75
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Upper arm - axis 4
0.2 -0.20 0.693 10 IRB 6640 - 180/2.55
0.2 -0.20 0.693 10 IRB 6640 - 235/2.55
0.2 -0.21 0.943 10 IRB 6640 - 185/2.8
0.2 -0.20 0.693 10 IRB 6640 - 205/2.75
If Tool load is entered manually the following mass shall be added to tooldata tload .
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Add to tool data
-0.09 0 0 4 IRB 6640 - 180/2.55
-0.09 0 0 4 IRB 6640 - 235/2.55
-0.09 0 0 4 IRB 6640 - 185/2.8
-0.09 0 0 4 IRB 6640 - 205/2.75
Note
These values reflect the standard mounting of the Process bracket, pointing
straight upwards in the robot calibration position. If the mounting is changed,
the X, Y and Z values must be changed correspondingly.
Arm load parameters for Material handling
Arm load parameters for IRBDP MH
The following table details values for DressPack - Material handling.
For the armload parameters of the cable package IRBDP MH6 see Arm load
parameters IRBDP MH6 on page 168 .
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Frame axis 1
0.465 -0.550 0.080 5.9 IRB 6640 - 180/2.55
0.465 -0.550 0.080 5.9 IRB 6640 - 235/2.55
0.465 -0.550 0.080 5.9 IRB 6640 - 185/2.8
0.465 -0.550 0.080 5.9 IRB 6640 - 205/2.75
0.465 -0.550 0.080 5.9 IRB 6640 - 130/3.2
Continues on next page
Product manual - DressPack/SpotPack IRB 6640 167
3HAC028638-001 Revision: K
© Copyright 2007-2018 ABB. All rights reserved.
2 Installation
2.4.1 DressPack - arm load parameters and LoadId
Continued