FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.10.5. LoadIdentify, load identifiction service routineContinuedStep Action Info3. Tap OK to confirm that the correct tool and/or payloadis active in the jogging menu and that the tool load/payload is correctly mounted.4. When identifying tool loads, confirm that the tool isactive.When identifying payloads, confirm that the payload’stool is active and calibrated.5. When identifying payloads with stationary TCP,confirm that the correct work object is active and(preferably) calibrated. If it is correct, tap OK toconfirm.6. Select identification method. If you select the methodwhere the mass is assumed to be known, rememberthat the tool/payload that you use must have thecorrect mass defined. Tap OK to confirm.7. Select configuration angle. The optimum is +90 or -90degrees. If this is impossible, tap Other and set theangle. The minimum is plus or minus 30 degrees.8. If the robot is not in a correct position for loadidentification, you will be asked to jog one or moreaxes roughly to a specified position. When you havedone this tap OK to confirm.If the robot is still not in a correct position for loadidentification, the robot will slowly move to the correctposition. Press Move to start the movement.9. The robot can go through the load identificationmovements slowly before performing the loadidentification. Tap Yes if you want a slow test and Noto proceed to the identification.10. The setup for load identification is now complete. Tostart the motion, switch to Automatic mode andMotors On. Then tap Move to start the loadidentification movements.11. When the identification is finished, switch back tomanual mode, press the enabling device and theStart button. Tap OK to confirm.12. The result of the load identification is now presentedon the FlexPendant. Tap Yes if you want to updatethe selected tool or payload with the identifiedparameters or No otherwise.If it is not correct, releasethe enabling device andselect the correct tool/payload in the joggingmenu. Then return toLoadIdentify, press theenabling device, andpress Start. Tap Retry andconfirm that the new tool/payload is correct.See above.See above.This is useful for ensuringthat the robot will not hitanything during theidentification. However,this will take a lot longertime.3HAC 16590-1 Revision: BContinues on next page217