ABB IRC5 with FlexPendant, Operating Manual

Page: 202 / 306

5.7.2 Editing the payload data
Overview
Use the payload data to set physical properties of the payload such as weight and
center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
sections
Running a service routine on page 217 , or LoadIdentify, load identification
service routine on page 224 .
Displaying the payload definition
Action
On the ABB menu, tap Jogging . 1
Tap Payload to display the list of available payloads. 2
Tap the payload you want to edit, then tap Edit . 3
Tap Change Value .
The data that defines the payload appears.
4
Changing the payload data
This procedure describes how to manually enter the payload data. This can also
be done automatically by running the service routine LoadIdentify. How to run a
service routine is described in section
Running a service routine on page 217 .
Unit Instance Action
[kg]
load.mass
Enter the weight of the payload. 1
[mm]
load.cog.x
Enter the payload’s center of gravity. 2
load.cog.y
load.cog.z
load.aom.q1
Enter the orientation of the axis of moment. 3
load.aom.q2
load.aom.q3
load.aom.q3
[kgm
2
]
ix
iy
Enter the payload’s moment of inertia. 4
iz
- - Tap OK to use the new values, Cancel to leave the
data unchanged.
5
Using the
PayLoadsInWristCoords
parameter
By using the
PayLoadsInWristCoords
parameter, the loaddata for payloads can
be specified relative to the wrist instead of the active TCP or work object. This can
be useful if several tool or TCP or work objects (when tool is stationary) are used
for one payload. In this case only one load identification is needed instead of one
for each tool or TCP or work object. Thus it is possible to use the same payload
loaddata for any robhold or stationary tool being active. This saves the time (for
example, during commissioning).
Continues on next page
202 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.7.2 Editing the payload data