FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.10.5. LoadIdentify, load identifiction service routine6.10.5. LoadIdentify, load identifiction service routineOverviewLoadIdentifyThe service routine LoadIdentify is used to automatically calculate the data of loads mountedon the robot. You can also enter the data manually, but this requires information that may bedifficult to calculate.If you want to run load identification for the payload, make sure that the tool is correctlydefined first, e.g. by running LoadIdentify for the tool.To run LoadIdentify, there are a number of things to consider. These are described on thefollowing pages. You can also find information on error handling and limitations in thischapter.LoadIdentify can identify the tool load and the payload. The data that can be identified aremass, center of gravity, and moments of inertia. Together with the identified data ameasurement accuracy, indicating how well the identification went, is also given.en0500001535ABCUpper arm loadTool loadPayloadThe movements of axis 3 will only be performed if the mass is to be identified. This meansthat to identify the mass, the upper arm load must be known and correctly defined first.Calibration anglesTo perform the identification the robot moves the load after a specific pattern and calculatesthe data. The axes that move are 3, 5 and 6. At the identification position, the motion for axis3 is approximately 3 degrees up and 3 degrees down and for axis 5 it is approximately 30degrees up and 30 degrees down. For axis 6 the motion is performed around twoconfiguration points.The optimum value for the configuration angle is 90 degrees.214Continues on next page3HAC 16590-1 Revision: B