ABB IRB 6400R, Product On-Line Manual

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Load Identification and Collision Detection 3.2 (LidCode)
Product Specification RobotWare for BaseWare OS 3.2 27
3.9 Load Identification and Collision Detection 3.2 (LidCode)
This option is only available for the IRB 6400 family of robots and for external
manipulators IRBP-L and IRBP-K.
LidCode contains two very useful features:
Load Identification
To manually calculate or measure the load parameters accurately can be very difficult
and time consuming. Operating a robot with inaccurate load parameters can have a
detrimental influence on cycle time and path accuracy.
With LidCode, the robot can carry out accurate identification of the complete load data
(mass, centre of gravity, and three inertia components). If applicable, tool load and
payload are handled separately.
The identification procedure consists of limited predefined movements of axes 3, 5 and
6 during approximately three minutes. The starting point of the identification motion
pattern can be chosen by the user so that collisions are avoided.
The accuracy achieved is normally better than 5%.
Collision Detection
Abnormal torque levels on any robot axis (not external axes) are detected and will
cause the robot to stop quickly and thereafter back off to relieve forces between the
robot and environment.
Tuning is normally not required, but the sensitivity can be changed from Rapid or
manually (the supervision can even be switched off completely). This may be
necessary when strong process forces are acting on the robot.
The sensitivity (with default tuning) is comparable to the mechanical alternative
(mechanical clutch) and in most cases much better. In addition, LidCode has the
advantages of no added stick-out and weight, no need for connection to the e-stop
circuit, no wear, the automatic backing off after collision and, finally, the adjustable
tuning.
Two system outputs reflect the activation and the trig status of the function.
RAPID instructions included in this option
MotionSup Changing the sensitivity of the collision detection or
activating/deactivating the function.
ParldRobValid Checking that identification is available for a specific robot
type.
ParldPosValid Checking that the current position is OK for identification.
LoadId Performing identification.
MechUnitLoad Defenition of payload for external mechanical units.