Dresspack Armload Parameters - ABB DressPack IRB 6620LX Product Manual

2.4 DressPack Armload parameters

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.
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.
The "Add to tool data" shall only be used when stating the effect of the DressPack
on tool load manually.
Coordinate system definitions
Coordinate system definitions when defining arm loads.
xx0600003186
A
B
C
DressPack for Material handling
The following table details values for DressPack - Material handling.
Frame axis 1
IRB 6620LX
Product manual - DressPack/SpotPack IRB 6620LX
3HAC055327-001 Revision: A
Note
Note
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)
Mass [kg]
3.6
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2.4 DressPack Armload parameters
Mass CenterX Mass CenterY
[m] [m]
-0.145 0.000
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2 Installation
Mass CenterZ
[m]
0.218
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