ABB DressPack IRB 6700 Product Manual page 130

2 Installation
2.11.1 DressPack - arm load parameters and LoadId
Continued
Upper arm - axis 3
IRB 6700 - 235/2.65
IRB 6700 - 205/2.80
IRB 6700 - 175/3.05
IRB 6700 - 150/3.20
IRB 6700 - 200/2.60
IRB 6700 - 155/2.85
IRB6700-300/2.7
IRB6700-245/3.0
Upper arm - axis 4
IRB 6700 - 235/2.65
IRB 6700 - 205/2.80
IRB 6700 - 175/3.05
IRB 6700 - 150/3.20
IRB 6700 - 200/2.60
IRB 6700 - 155/2.85
IRB6700-300/2.7
IRB6700-245/3.0
If Tool load is entered manually the following mass shall be added to tooldata tload.
Add to tool data
IRB 6700 - 235/2.65
IRB 6700 - 205/2.80
IRB 6700 - 175/3.05
IRB 6700 - 150/3.20
IRB 6700 - 200/2.60
IRB 6700 - 155/2.85
IRB6700-300/2.7
IRB6700-245/3.0
Default arm loads
For Lean ID robots, default arm loads are set for axis 1-4. These are set according
to the values for the cable package IRBDP SW6 - Spot welding. If any other values
should be used (for example IRBDP MH6 - Material handling), the arm loads must
be changed manually.
No tooldata is set as default. This must be set manually.
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130
Mass [kg]
6
6
6
6
6
6
6
6
Mass [kg]
8
8
8.8
8.8
8
8
8
8.8
Mass [kg]
3.5
3.5
3.5
3.5
3.5
3.5
3.5
3.5
Note
© Copyright 2014-2017 ABB. All rights reserved.
Mass CenterX Mass CenterY
[m] [m]
-0.25 -0.025
-0.25 -0.025
-0.25 -0.025
-0.25 -0.025
-0.25 -0.025
-0.25 -0.025
-0.25 -0.025
-0.25 -0.025
Mass CenterX Mass CenterY
[m] [m]
0.733 0.200
0.733 0.200
1.123 0.211
1.123 0.211
0.693 0.200
0.943 0.200
0.763 0.200
0.994 0.211
Mass CenterX Mass CenterY
[m] [m]
0 0
0 0
0 0
0 0
0 0
0 0
0 0
0 0
Product manual - DressPack/SpotPack IRB 6700
3HAC044270-001 Revision: F
Mass CenterZ
[m]
0.080
0.080
0.100
0.100
0.080
0.080
0.080
0.080
Mass CenterZ
[m]
0.200
0.200
0.200
0.200
0.200
0.200
0.200
0.200
Mass CenterZ
[m]
-0.09
-0.09
-0.09
-0.09
-0.09
-0.09
-0.09
-0.09