ABB DressPack IRB 6640 Product Manual page 168

2 Installation
2.4.1 DressPack - arm load parameters and LoadId
Continued
Lower arm - axis 2
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
Upper arm - axis 3
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
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
IRB 6640 - 130/3.2
Arm load parameters IRBDP MH6
These tables show the values for the cable package IRBDP MH6 - Material handling.
Frame - axis 1
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 185/2.8
IRB 6640 - 205/2.75
Lower arm - axis 2
IRB 6640 - 180/2.55
IRB 6640 - 235/2.55
IRB 6640 - 185/2.8
IRB 6640 - 205/2.75
Upper arm - axis 3
IRB 6640 - 180/2.55
Continues on next page
168
Mass [kg]
10.1
10.1
10.1
10.4
10.4
Mass [kg]
42.4
42.4
42.7
42.4
43.0
Mass [kg]
4.9
4.9
4.9
4.9
4.9
Mass [kg]
5.9
5.9
5.9
5.9
Mass [kg]
10.1
10.1
10.1
10.4
Mass [kg]
6
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Mass CenterX Mass CenterY
[m] [m]
0 -0.550
0 -0.550
0 -0.550
0 -0.550
0 -0.550
Mass CenterX Mass CenterY
[m] [m]
0.072 0.116
0.072 0.116
0.089 0.115
0.072 0.115
0.104 0.115
Mass CenterX Mass CenterY
[m] [m]
-0.191 0
-0.191 0
-0.191 0
-0.191 0
-0.191 0
Mass CenterX Mass CenterY
[m] [m]
0.080 -0.550
0.080 -0.550
0.080 -0.550
0.080 -0.550
Mass CenterX Mass CenterY
[m] [m]
0 -0.550
0 -0.550
0 -0.550
0 -0.550
Mass CenterX Mass CenterY
[m] [m]
-0.25 -0.025
Product manual - DressPack/SpotPack IRB 6640
3HAC028638-001 Revision: K
Mass CenterZ
[m]
0.550
0.550
0.550
0.653
0.653
Mass CenterZ
[m]
0.286
0.286
0.286
0.286
0.286
Mass CenterZ
[m]
0
0
0
0
0
Mass CenterZ
[m]
0.465
0.485
0.485
0.485
Mass CenterZ
[m]
0.550
0.550
0.550
0.653
Mass CenterZ
[m]
0.08