ABB IRB 6620 - Limitations of Robot Movements; Impact on Dress Pack Lifetime

2 DressPack and SpotPack
2.1.3 Limitations of robot movements
48 Rev.E 3HAC 025861-001
External
This type of dress pack is recommended where there are less complexity in wrist
movements. This normally occurs when there are not many different products run-
ning in the production cell. This package requires more individual adjustment to opti-
mize towards robot program at set up.
Available options are 780-3 for material handling and 781-2 for spot welding.
2.1.3 Limitations of robot movements
When using DressPack options on the upper arm the robot movements will be lim-
ited. The position of bracket installed on axis 6 must be taken in consideration when
optimizing the possible robot movements.
• The axis 5 working range is limited to +/- 110 degrees due to the axis 6 bracket attach-
ment (when applicable).
• In bending backwards positions there are limitations due to inteference with manipula-
tor or Water and Air unit (if such is mounted).
2.1.4 Impact on dress pack lifetime
There are some robot movements/positions that shall be avoided in the robot produc-
tion program. This will improve the lifetime significantly of external upper arm dress
pack and wear parts e.g. protection hose, hose reinforcement and protective sleeves.
• Axis 3 must not be moved backwards more than -90 degrees (valid for 781-2 for spot
welding).
• The axis 5 movement is not allowed to press the DressPack against the robot upper
arm.
• Combined rotation of the wrist axes must be limited so that the DressPack is not
wrapped hard against the upper arm.
• When moving the robot so the DressPack is moved from side to side of the upper arm
must sharp turning and whip lashing of the DressPack be avoided. This can be solved
by first moving axis 5 forward before rotating axis 4 and/or axis 6 (valid for 781-2 for
spot welding).
See the Product Manual for more detailed information and recommended set-up
adjustments.
For more detail information please contact Serop Product support/SEROP/ABB.
E-mail address: serop.product_support@se.abb.com