ABB OmniCore, Operating Manual

Page: 191 / 266

11 If the robot is not in correct position for load identification, you are asked to
jog one or more axes roughly to a specified position. When you have done
this tap
OK to confirm.
If the robot is still not in a correct position for load identification, the robot
will slowly move to the correct position. Press
Move to start the movement.
Note
Axis 1 to 3 must not be more than 10 degrees from proposed position.
12 The robot can go through the load identification movements slowly before
performing the load identification (slow test). Tap Yes if you want a slow test
and No to proceed to the identification.
Note
This is useful for ensuring that the robot will not hit anything during the
identification. However, this will take a lot longer time.
Note
If the load identification is planned to be run in manual full speed, then the
slow test is required before the actual measurement can start.
13 The setup for load identification is now complete. To start the motion, switch
to Automatic mode and Motors On. Then tap Move to start the load
identification movements.
14 When the identification is finished, switch back to manual mode, press the
three-position enabling device and the Start button. Tap OK to confirm.
15 The result of the load identification is now presented on the FlexPendant.
Tap Tool if you want to update the selected tool, tap Loaddata if you want
to update the total load, or tap No if you want to quit without saving.
16 If Loaddata is selected it is possible to update the total load to either an
existing or a new
loaddata
persistent variable.
Error handling
If the three-position enabling device is released during the load identification (before
the movements start), the routine can always be restarted by pressing the
three-position enabling device again and then pressing the START button.
If an error should occur during the load identification movements, the routine must
be restarted from the beginning. This is done automatically by pressing Start after
confirming the error. To interrupt and leave the load identification procedure, tap
Cancel Call Routine in Program Editor debug menu.
Limitations for LoadIdentify
Only tool loads and payloads can be identified with LoadIdentify. Thus arm loads
cannot be identified.
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Operating manual - OmniCore 191
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
6 Programming and testing
6.10.7 Load identification service routine
Continued