ABB DressPack IRB 6640, Product Manual

Page: 168 / 370

Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Lower arm - axis 2
0.550 -0.550 0 10.1 IRB 6640 - 180/2.55
0.550 -0.550 0 10.1 IRB 6640 - 235/2.55
0.550 -0.550 0 10.1 IRB 6640 - 185/2.8
0.653 -0.550 0 10.4 IRB 6640 - 205/2.75
0.653 -0.550 0 10.4 IRB 6640 - 130/3.2
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Upper arm - axis 3
0.286 0.116 0.072 42.4 IRB 6640 - 180/2.55
0.286 0.116 0.072 42.4 IRB 6640 - 235/2.55
0.286 0.115 0.089 42.7 IRB 6640 - 185/2.8
0.286 0.115 0.072 42.4 IRB 6640 - 205/2.75
0.286 0.115 0.104 43.0 IRB 6640 - 130/3.2
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 0 -0.191 4.9 IRB 6640 - 180/2.55
0 0 -0.191 4.9 IRB 6640 - 235/2.55
0 0 -0.191 4.9 IRB 6640 - 185/2.8
0 0 -0.191 4.9 IRB 6640 - 205/2.75
0 0 -0.191 4.9 IRB 6640 - 130/3.2
Arm load parameters IRBDP MH6
These tables show the values for the cable package IRBDP MH6 - Material handling.
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
0.485 -0.550 0.080 5.9 IRB 6640 - 235/2.55
0.485 -0.550 0.080 5.9 IRB 6640 - 185/2.8
0.485 -0.550 0.080 5.9 IRB 6640 - 205/2.75
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Lower arm - axis 2
0.550 -0.550 0 10.1 IRB 6640 - 180/2.55
0.550 -0.550 0 10.1 IRB 6640 - 235/2.55
0.550 -0.550 0 10.1 IRB 6640 - 185/2.8
0.653 -0.550 0 10.4 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 6 IRB 6640 - 180/2.55
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168 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