ABB DressPack IRB 6640, Product Manual

Page: 170 / 370

Procedures Step 2 - Load Identification
It is recommended to use the service routine Load Identification (LoadID) to define
the load data for an individual robot, as this method not only measures the mass
but also the inertia of the tool.
Detailed in Operating manual - IRC5 with FlexPendant .
Note Action
If the cable package prevent the motions. Check if the cable package prevents move-
ments. 1
The DressPack forces on the wrist will
"increase" the load parameters, but this
is anyhow a good approximation of the
actual load case to be considered by the
motion planning functions of the robot. If not:
Run
Load Identification .
2
If the cable package prevent the motions: 3
Remove the cable package.
Make the Load Identification. 4
Refit the cable package. 5
See Procedures Step 1 - Arm load data
on page 169 .
Add the DressPack load manually. 6
170 Product manual - DressPack/SpotPack IRB 6640
3HAC028638-001 Revision: K
© Copyright 2007-2018 ABB. All rights reserved.
2 Installation
2.4.1 DressPack - arm load parameters and LoadId
Continued