ABB DressPack IRB 6640, Product Manual

Page: 165 / 370

2.4 DressPack arm load parameters
2.4.1 DressPack - arm load parameters and LoadId
General
A DressPack is adding load to the robot. If the arm and tool loads are not stated
correctly, this will affect the behavior and the wear of the robot.
Note
The extra weight of the DressPack products will affect the arm load data and the
performance of the robot. The effect differs depending on which type of DressPack
product being used.
Note
The "Add to tool data" shall only be used when stating the effect of the DressPack
on tool load manually.
Coordinate system definitions
Coordinate system definitions when defining arm loads.
A
B C
D
Z
X
Z
X
Z
X
Z
X
xx0500001893
Frame - axis 1 A
Lower arm - axis 2 (Z is in the lower arm direction) B
Upper arm - axis 3 (X is in the upper arm direction) C
Tool D
Arm load parameters for Spot welding
Arm load parameters for IRBDP SW2 and IRBDP SW5
The following table specifies values for DressPack - Spot welding.
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Frame axis 1
0.465 -0.550 0.080 9.0 IRB 6640 - 180/2.55
0.465 -0.550 0.080 9.0 IRB 6640 - 235/2.55
0.465 -0.550 0.080 9.0 IRB 6640 - 185/2.8
Continues on next page
Product manual - DressPack/SpotPack IRB 6640 165
3HAC028638-001 Revision: K
© Copyright 2007-2018 ABB. All rights reserved.
2 Installation
2.4.1 DressPack - arm load parameters and LoadId