Dresspack Arm Load Parameters - ABB DressPack IRB 6640 Product Manual

2.4 DressPack arm load 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 - Spot welding.
Frame axis 1
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 185/2.8
Product manual - DressPack/SpotPack IRB 6640
3HAC028638-001 Revision: K
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
Mass [kg]
9.0
9.0
9.0
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2.4.1 DressPack - arm load parameters and LoadId
Z
Z
X
C
Mass CenterX
[m]
0.080
0.080
0.080
2 Installation
X
D
Mass CenterY Mass CenterZ
[m] [m]
-0.550 0.465
-0.550 0.465
-0.550 0.465
Continues on next page
Z
X
165