ABB IRB 660 Product Manual

Also see for IRB 660: Operating manual Product manual Product specification

Contents

3 FlexGripper UI3.2.2.2. TCP edit3HAC040633-002 Revision: -100TCP Parameter descriptionDefault TCP of FlexGrippersNOTE!The default TCP is only valid with no prodcut is gripped by the FlexGripper. After the productis gripped, the TCP location should be adjusted according to the new center of gravity.If the user want to add TCP themselves, they can add TCP in the program. Then the newlyadded TCP can be shown in the TCP list when tapping Select TCP in the TCP interface.Type Parameter DescriptionTool trans x The X-value of TCP position in mmtrans y The Y-value of TCP position in mmtrans z The Z-value of TCP position in mmrot q1 The q1 value in the quaternion (q1, q2, q3, q4) ofthe orientation of the tool coordinate systemrot q2 The q2 value in the quaternion (q1, q2, q3, q4) ofthe orientation of the tool coordinate systemrot q3 The q3 value in the quaternion (q1, q2, q3, q4) ofthe orientation of the tool coordinate systemrot q4 The q4 value in the quaternion (q1, q2, q3, q4) ofthe orientation of the tool coordinate systemLoad mass The weight of the tool in kg.cog x The X-value of the center of gravity of the toolload (x, y and z) in mmcog y The Y-value of the center of gravity of the toolload (x, y and z) in mmcog z The Z-value of the center of gravity of the toolload (x, y and z) in mminertia x The X-value of the moments of inertia of the toolrelative to its center of mass around the tool loadcoordinate axes in kgm2inertia y The Y-value of the moments of inertia of the toolrelative to its center of mass around the tool loadcoordinate axes in kgm2inertia z The Z-value of the moments of inertia of the toolrelative to its center of mass around the tool loadcoordinate axes in kgm2FlexGrippertypeDefault TCP value Default TCP location illustrationFlexGripper-Vacuum[TRUE, [[0,0,158], [1,0,0,0]],[64, [-10.5,12.8,59.8],[1,0,0,0],4.817,0,8.722]]en1011081Continued