ABB IRB 2000 - Page 204

5.2.4.18
WRIST
Description
The parameters in the section below are used to obtain the maximum performance of
the robot, especially concerning maximum acceleration and deceleration. These
parameters affect the control of the servo regulation. The default values are such that
they correspond to the working conditions of a heavily loaded robot. To avoid
overloading the robot, the distances and the corresponding maximum loads given in
the load diagrams must not be exceeded. The load diagram are given in the
description of the robot.
The parameter below is used to define the load fixed at the robot wrist (axis 6) with respect
to its weight and the position of its centre of gravity. In other words, the nature of the
normal load.
Center of gravity
of the load
-• +Xmm
Parameter I
The parameter specifies the weight of the load.
Menu LOAD + WRIST
Guide text MASS (KG) =
Def. range
IRB 20001KB 3000
0-10 kg 0-30 kg
Default value
IRB 2000 IRB 3000
10 kg 30 kg
IRB 3200
0-10 kg
IRB 3200
10 kg
IRB 6000
2.4-120
2.4-150
2.8-100PT
3.0-75
S3.0-100
2.25 PE-75
IRB 6000
2.4-100
2.4-150
2.8-100PT
3.0-75
S3.0-100
2.25PE-75
0-120kg
0-150 kg
0-100 kg
0-75kg
0-100 kg
50-75 kg
100 kg
150 kg
100 kg
75 kg
100 kg
75 kg
Permitted value
According to load diagram chapter 5 in Description
Parameter II
The parameter specifies the distance from TCP 0 to the load centre of gravity with
designation X in accordance with the figure above.
Menu
Resulting and final question.
Guide text
X(MM):
INSTALLATION
S3
5:40