ABB IRC5 with FlexPendant, Operating Manual

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5.9.5 LoadIdentify, load identification service routine
When to use this service routine
The service routine LoadIdentify is used to automatically identify the data of loads
mounted on the robot. The data can also be entered manually, but this requires
information that may be difficult to calculate.
To run LoadIdentify, there are a number of things to consider. These are described
on the following pages. There is also information on error handling and limitations
described in this chapter.
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot will not be used to its maximum capacity
• Impaired path accuracy including a risk of overshooting
• Risk of overloading the mechanical structure
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
LoadIdentify
LoadIdentify can identify the tool load and the payload. The data that can be
identified are mass, center of gravity, and moments of inertia.
en0500001535
Upper arm load A
Tool load B
Payload C
Before running the load identification for the payload, make sure that the tool load
data is correctly defined first, for example by running LoadIdentify for the tool.
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224 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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5 Programming and testing
5.9.5 LoadIdentify, load identification service routine