ABB Robotics IRB 1100, Product Manual

Page: 79 / 616

3.6 Start of robot in cold environments
Introduction
This section describes how to start the robot in a cold environment if it is not starting
the normal way.
Problems with starting the robot
Event message from Motion Supervision
Use this procedure if an event message indicates a problem with Motion supervision
at start-up. More information about Motion Supervision is found in
Technical
reference manual - System parameters .
Note Action
Turn off Motion Supervision. 1
If the controller reports other event
messages, see
Robot stopping
with other event message on
page 79
.
Start the robot. 2
When the robot has reached normal working temper-
ature, the Motion Supervision can be turned on
again. 3
Robot stopping with other event message
Use this procedure if the robot is not starting.
Note Action
The speed can be regulated with the
RAPID instruction
VelSet
or the speed
regulator on the FlexPendent.
Start the robot with its normal program but
with reduced speed.
Note
It is recommended to reduce the speed to a
value smaller than 40% of the normal pro-
grammed speed.
1
The warm up duration varies according
to the working cycle. If the working cycle
is not tough enough, a longer warm up
duration is required. After 10 minutes or more, run the robot with
the normal speed again. 2
Adjusting the speed and acceleration during warm-up
Depending on how cold the environment is and what program is being used, the
speed might need to be ramped up until reached maximum. The table shows
examples of how to adjust the speed:
Speed/velocity
AccSet
Work cycles
v100 (100 mm/s) 20, 20 3 Work cycles
v400 (400 mm/s) 40, 40 5 Work cycles
v600 (600 mm/s) 60, 60 5 Work cycles
v1000 (1000 mm/s) 100, 100 5 Work cycles
Max. 100, 100 More than 5 Work cycles
Continues on next page
Product manual - IRB 1100 79
3HAC064992-001 Revision: C
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3 Installation and commissioning
3.6 Start of robot in cold environments