ABB DressPack IRB6650S Product Manual page 186

2 Installation
2.4.1 DressPack - arm load parameters and LoadId
Continued
Upper arm - axis 4
IRB 6650S - 90/3.9
Arm load parameters for IRBDP MH6
The following table specifies values for DressPack for Material handling.
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
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.
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186
Note
These values reflect the standard mounting of the Process bracket, pointing
straigh upwards in the robot calibration position. If the mounting is changed, the
X, Y and Z values must be changed correspondingly.
Note
No tooldata is set as default. This must be set manually.
© Copyright 2004-2018 ABB. All rights reserved.
Mass [kg] Mass CenterX
[m]
10.7 1.490
Mass [kg] Mass CenterX
[m]
5.9 0.080
Mass [kg] Mass CenterX
[m]
3.7 0.028
3.7 0.028
Mass [kg] Mass CenterX
[m]
14.1 0.025
14.4 0.020
Mass [kg] Mass CenterX
[m]
11.4 0.875
11.7 1.225
Mass [kg] Mass CenterX
[m]
2.1 0
2.1 0
Product manual - DressPack/SpotPack IRB 6650S
Mass CenterY Mass CenterZ
[m] [m]
-0.157 0.188
Mass CenterY Mass CenterZ
[m] [m]
-0.550 0.465
Mass CenterY Mass CenterZ
[m] [m]
-0.242 0.845
-0.242 0.845
Mass CenterY Mass CenterZ
[m] [m]
-0.067 0.087
-0.067 0.087
Mass CenterY Mass CenterZ
[m] [m]
-0.223 0.199
-0.213 0.199
Mass CenterY Mass CenterZ
[m] [m]
0 -0.099
0 -0.099
3HAC055424-001 Revision: C