FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.10.5. LoadIdentify, load identifiction service routineContinueden0500001537A Configuration 2B Configuration angleC Configuration 1 (start position)LoadIdentify with arm loads mountedThe best way to perform load identification is with a robot with no arm loads mounted. If thisis not possible, good accuracy can still be achieved. Consider, for example, the robot in thefigure below, which has arc welding equipment mounted on it.en0500001536A Cable 1B Load 1C Cable 2D Load 2If we want to use load identification to find the data of load 2, the most important thing toremember is to make sure that the upper arm load is correctly defined, in particular its massand its center of gravity along the robot arm. The arm load includes everything that ismounted on the robot, except tool load and payload. In the figure above, cable 1, cable 2, andload 1 are included in the arm load.3HAC 16590-1 Revision: BContinues on next page215