ABB DressPack IRB 6640 Product Manual page 169

Upper arm - axis 3
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
Procedures Step 1 - Arm load data
How to define the Arm load data is described in Operating manual - IRC5 with
FlexPendant section Configuring system parameters.
All system parameters are described in Technical reference manual - System
parameters.
Define the arm loads, typically:
The used arm load is defined for each arm, irb_1, irb_2, and irb_3.
Product manual - DressPack/SpotPack IRB 6640
3HAC028638-001 Revision: K
Mass [kg]
6
6
6
Mass [kg]
8
8
8
8
Mass [kg]
3.5
3.5
3.5
3.5
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.
• load:_1
• load:_2
• load:_3
© Copyright 2007-2018 ABB. All rights reserved.
2.4.1 DressPack - arm load parameters and LoadId
Mass CenterX Mass CenterY
[m] [m]
-0.25 -0.025
-0.25 -0.025
-0.25 -0.025
Mass CenterX Mass CenterY
[m] [m]
0.693 -0.20
0.693 -0.20
0.943 -0.21
0.693 -0.20
Mass CenterX Mass CenterY
[m] [m]
0 0
0 0
0 0
0 0
2 Installation
Continued
Mass CenterZ
[m]
0.08
0.10
0.08
Mass CenterZ
[m]
0.2
0.2
0.2
0.2
Mass CenterZ
[m]
-0.09
-0.09
-0.09
-0.09
Continues on next page
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