ABB DressPack IRB 6640, Product Manual

Page: 169 / 370

Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Upper arm - axis 3
0.08 -0.025 -0.25 6 IRB 6640 - 235/2.55
0.10 -0.025 -0.25 6 IRB 6640 - 185/2.8
0.08 -0.025 -0.25 6 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 8 IRB 6640 - 180/2.55
0.2 -0.20 0.693 8 IRB 6640 - 235/2.55
0.2 -0.21 0.943 8 IRB 6640 - 185/2.8
0.2 -0.20 0.693 8 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 3.5 IRB 6640 - 180/2.55
-0.09 0 0 3.5 IRB 6640 - 235/2.55
-0.09 0 0 3.5 IRB 6640 - 185/2.8
-0.09 0 0 3.5 IRB 6640 - 205/2.75
Note
These values reflect the standard mounting of the Process bracket, pointing
straigh upwards in the robot calibration position. If the mounting is changed, the
X, Y and Z values must be changed correspondingly.
Procedures Step 1 - Arm load data
How to define the Arm load data is described in Operating manual - IRC5 with
FlexPendant section Configuring system parameters .
All system parameters are described in Technical reference manual - System
parameters .
Define the arm loads, typically:
• load:_1
• load:_2
• load:_3
The used arm load is defined for each arm, irb_1, irb_2, and irb_3.
Continues on next page
Product manual - DressPack/SpotPack IRB 6640 169
3HAC028638-001 Revision: K
© Copyright 2007-2018 ABB. All rights reserved.
2 Installation
2.4.1 DressPack - arm load parameters and LoadId
Continued