Dresspack Armload Parameters; Dresspack - Arm Load Parameters And Loadid - ABB DressPack IRB6650S Product Manual

2.4 DressPack armload 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.
Coordinate system definitions
Coordinate system definitions when defining arm loads.
xx0500001893
A
B
C
D
Arm load parameters for Spot welding
Arm load parameters for IRBDP SW2 and IRBDP SW5
The following table specifies values for DressPack for Spot Welding.
Frame axis 1
IRB 6650S - 125/3.5
IRB 6650S - 200/3.0
Product manual - DressPack/SpotPack IRB 6650S
3HAC055424-001 Revision: C
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.
Z
X
A
B
Frame - axis 1
Lower arm - axis 2 (Z is in the lower arm direction)
Upper arm - axis 3 (X is in the upper arm direction)
Tool
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2.4.1 DressPack - arm load parameters and LoadId
Z
Z
X
C
MassX [kg] Mass CenterX
[m]
9.0 0.080
9.0 0.080
2 Installation
X
D
Mass CenterY Mass CenterZ
[m] [m]
-0.550 0.465
-0.550 0.465
Continues on next page
Z
X
183