ABB DressPack IRB6650S Product Manual page 184

2 Installation
2.4.1 DressPack - arm load parameters and LoadId
Continued
Lower arm - axis 2
IRB 6650S - 200/3.0
IRB 6650S - 125/3.5
Upper arm - axis 3
IRB 6650S - 200/3.0
IRB 6650S - 125/3.5
If Tool load is entered manually the following mass shall be added to tooldata tload.
Add to tool data
IRB 6650S - 200/3.0
IRB 6650S - 125/3.5
Arm load parameters for IRBDP SW6 Lean ID
These tables show the values for the cable package IRBDP SW6 - Spot welding.
Frame - axis 1
IRB 6650S
Lower arm - axis 2
IRB 6650S - 200/3.0
IRB 6650S - 125/3.5
Upper arm - axis 3
IRB 6650S - 200/3.0
IRB 6650S - 125/3.5
Upper arm - axis 4
IRB 6650S - 200/3.0
IRB 6650S - 125/3.5
If Tool load is entered manually the following mass shall be added to tooldata tload.
Add to tool data
IRB 6650S - 200/3.0
IRB 6650S - 125/3.5
Continues on next page
184
Mass [kg]
9
Mass [kg]
6.4
6.4
Mass [kg]
16.5
17.0
Mass [kg]
13.2
13.7
Mass [kg]
3.1
3.1
Note
These values reflect the standard mounting of the Process bracket, pointing
straight upwards in the robot calibration position. If the mounting is changed,
the X, Y and Z values must be changed correspondingly.
© Copyright 2004-2018 ABB. All rights reserved.
Mass [kg] Mass CenterX
[m]
13.1 0
13.1 0
Mass [kg] Mass CenterX
[m]
53.5 0.085
55.1 0.133
Mass [kg] Mass CenterX
[m]
9.4 -0.212
9.4 -0.212
Mass CenterX
[m]
0.080
Mass CenterX
[m]
0.025
0.025
Mass CenterX
[m]
0.042
0.042
Mass CenterX
[m]
0.959
1.209
Mass CenterX
[m]
0
0
Product manual - DressPack/SpotPack IRB 6650S
Mass CenterY Mass CenterZ
[m] [m]
-0.550 0.550
-0.550 0.550
Mass CenterY Mass CenterZ
[m] [m]
0.114 0.286
0.111 0.287
Mass CenterY Mass CenterZ
[m] [m]
0 0
0 0
Mass CenterY Mass CenterZ
[m] [m]
0.550 0.465
Mass CenterY Mass CenterZ
[m] [m]
0.496 0.831
0.496 0.831
Mass CenterY Mass CenterZ
[m] [m]
0.064 0.069
0.064 0.069
Mass CenterY Mass CenterZ
[m] [m]
0.201 0.199
0.191 0.199
Mass CenterY Mass CenterZ
[m] [m]
0 0.099
0 0.099
3HAC055424-001 Revision: C