ABB DressPack IRB6650S, Product Manual

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Arm load parameters for Material handling
Arm load parameters for IRBDP MH
The following table specifies values for DressPack for 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 6650S - 200/3.0
0.465 -0.550 0.080 5.9 IRB 6650S - 125/3.5
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Lower arm - axis 2
0.653 -0.550 0 10.4 IRB 6650S - 200/3.0
0.653 -0.550 0 10.4 IRB 6650S - 125/3.5
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Upper arm - axis 3
0.286 0.116 0.072 42.4 IRB 6650S - 200/3.0
0.286 0.115 0.104 43.0 IRB 6650S - 125/3.5
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 -0.212 8.2 IRB 6650S - 200/3.0
0 0 -0.212 8.2 IRB 6650S - 125/3.5
Arm load parameters for IRBDP MH3
The following table specifies values for DressPack for 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 6650S
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Lower arm - axis 2
0.845 -0.242 0.028 3.7 IRB 6650S - 200/3.0
0.845 -0.242 0.028 3.7 IRB 6650S - 125/3.5
0.845 -0.242 0.028 3.7 IRB 6650S - 90/3.9
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Upper arm - axis 3
0.087 -0.067 0.025 14.1 IRB 6650S - 200/3.0
0.087 -0.067 0.020 14.4 IRB 6650S - 125/3.5
0.087 -0.067 0.025 14.1 IRB 6650S - 90/3.9
Mass CenterZ
[m] Mass CenterY
[m] Mass CenterX
[m] Mass [kg] Upper arm - axis 4
0.188 -0.177 0.990 10.2 IRB 6650S - 200/3.0
0.188 -0.167 1.240 10.4 IRB 6650S - 125/3.5
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Product manual - DressPack/SpotPack IRB 6650S 185
3HAC055424-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
2 Installation
2.4.1 DressPack - arm load parameters and LoadId
Continued