FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.6.2. Editing the payload data6.6.2. Editing the payload dataOverviewUse the payload data to set physical properties of the payload such as weight and center ofgravity.This can also be done automatically with the service routine LoadIdentify. See sectionsRunning a service routine on page 209, or LoadIdentify, load identifiction service routine onpage 214.Displaying the payload definitionStepAction1. In the ABB menu, tap Jogging.2. Tap Payload to display the list of available payloads.3. Tap and hold the payload you want to edit.A menu appears.4. On the menu, tap Change Value.The data that defines the payload appears.Changing the payload dataThis procedure describes how to manually enter the payload data. This can also be doneautomatically by running the service routine Load Identify. How to run a service routine isdescribed in section Running a service routine on page 209.Step Action Instance Unit1. Enter the weight of the payload. load.mass [kg]2. Enter the payload’s center of gravity. load.cog.xload.cog.yload.cog.z[mm]3. Enter the orientation of the axis ofmoment.load.aom.q1load.aom.q2load.aom.q3load.aom.q34. Enter the payload’s moment of inertia. ix[kgm 2 ]iyiz5. Tap OK to use the new values, Cancelto leave the data unchanged.- -1623HAC 16590-1 Revision: B