ABB IRC5 with FlexPendant, Operating Manual

Page: 232 / 306

Because there is not 6 axes, a 4-axis robot cannot identify all parameters of the
load. The following parameters cannot be identified:
• I
x
- The inertia around the x-axis.
• I
y
- The inertia around the y-axis.
• m
z
- The z-coordinate for the center of mass.
However, for this type of robot the above parameters have negligible effect on the
motion performance. See the definition of the load coordinate system in the
following figure.
xx0900000021
Tip
It is possible that the identification procedure fails to estimate the center of gravity
if the measured torque data has too high variance. If this happens, it should still
be possible to get good results by running the LoadIdentify routine again,
preferably with another position of the last axis.
Related information
It is also possible to include LoadIdentify in a program by using RAPID instructions.
See LoadID in
Technical reference manual - RAPID Instructions, Functions and
Data types .
How to enter the data manually is described in Editing the tool data on page 184 ,
and Editing the payload data on page 202 .
The product manual for the robot contain information on how and where to mount
the loads.
Load identification for positioners is done with the service routine ManLoadIdentify,
see
Product manual - IRBP /D2009 .
How to define the system parameters for arm loads is described in Technical
reference manual - System parameters .
232 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.9.5 LoadIdentify, load identification service routine
Continued