ABB DressPack IRB 6620LX Product Manual page 78

2 Installation
2.4 DressPack Armload parameters
Continued
Lower arm - axis 2
IRB 6620LX
Upper arm - axis 3
IRB 6620LX
If Tool load is entered manually the following mass shall be added to tooldata tload.
Add to tool data
IRB 6620LX
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.
Procedures Step 2 - Load Identification
It is recommended to use the service routine Load Identification (LoadID) to define
the load data for an individual robot, as this method not only measures the mass
but also the inertia of the tool.
Detailed in Operating manual - IRC5 with FlexPendant.
1
2
3
4
5
6
78
• load:_1
• load:_2
• load:_3
Action
Check if the cable package prevents move-
ments.
If not:
Run Load Identification.
If the cable package prevent the motions:
Remove the cable package.
Make the Load Identification.
Refit the cable package.
Add the DressPack load manually.
© Copyright 2016-2017 ABB. All rights reserved.
Mass [kg] Mass CenterX
[m]
2.1 -0.023
Mass [kg] Mass CenterX
[m]
30.6 0.000
Mass [kg] Mass CenterX
[m]
4.9 -0.191
Note
If the cable package prevent the motions.
The DressPack forces on the wrist will
"increase" the load parameters, but this
is anyhow a good approximation of the
actual load case to be considered by the
motion planning functions of the robot.
See Procedures Step 1 - Arm load data
on page
Product manual - DressPack/SpotPack IRB 6620LX
Mass CenterY Mass CenterZ
[m] [m]
0.020 0.030
Mass CenterY Mass CenterZ
[m] [m]
0.000 0.000
Mass CenterY Mass CenterZ
[m] [m]
0 0
78.
3HAC055327-001 Revision: A