ABB DressPack IRB 6640 Product Manual page 167

Lower arm - axis 2
IRB 6640 - 205/2.75
Upper arm - axis 3
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 185/2.8
IRB 6640 - 205/2.75
Upper arm - axis 4
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 185/2.8
IRB 6640 - 205/2.75
If Tool load is entered manually the following mass shall be added to tooldata tload.
Add to tool data
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 185/2.8
IRB 6640 - 205/2.75
Arm load parameters for Material handling
Arm load parameters for IRBDP MH
The following table details values for DressPack - Material handling.
For the armload parameters of the cable package IRBDP MH6 see
parameters IRBDP MH6 on page
Frame axis 1
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 185/2.8
IRB 6640 - 205/2.75
IRB 6640 - 130/3.2
Product manual - DressPack/SpotPack IRB 6640
3HAC028638-001 Revision: K
Mass [kg]
13.1
Mass [kg]
8
8
8
8
Mass [kg]
10
10
10
10
Mass [kg]
4
4
4
4
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 2007-2018 ABB. All rights reserved.
2.4.1 DressPack - arm load parameters and LoadId
Mass CenterX
[m]
0
Mass CenterX
[m]
-0.25
-0.25
-0.25
-0.25
Mass CenterX
[m]
0.693
0.693
0.943
0.693
Mass CenterX
[m]
0
0
0
0
168.
Mass [kg] Mass CenterX
[m]
5.9 0.080
5.9 0.080
5.9 0.080
5.9 0.080
5.9 0.080
2 Installation
Continued
Mass CenterY Mass CenterZ
[m] [m]
-0.550 0.550
Mass CenterY Mass CenterZ
[m] [m]
-0.025 0.08
-0.025 0.08
-0.025 0.08
-0.025 0.08
Mass CenterY Mass CenterZ
[m] [m]
-0.20 0.2
-0.20 0.2
-0.21 0.2
-0.20 0.2
Mass CenterY Mass CenterZ
[m] [m]
0 -0.09
0 -0.09
0 -0.09
0 -0.09
Arm load
Mass CenterY Mass CenterZ
[m] [m]
-0.550 0.465
-0.550 0.465
-0.550 0.465
-0.550 0.465
-0.550 0.465
Continues on next page
167