ABB OmniCore, Operating Manual

Page: 193 / 266

• 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.
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.
LoadIdentify for 4-axis delta robots
When running LoadIdentify on a delta (picker/packer) robot with 4 axes, there are
some differences. In this description of the differences the robot type is assumed
to be similar to IRB 360, IRB 365, or IRB 390.
The main differences are:
• The used axes are:
- 3 (for all robot models)
- 4 (for all robot models)
• Not all load parameters can be identified.
Axis 4 will move approxi60 degrees from its current position. Therefore,
the load will move a large rotational distance during the identification.
Because there is not 6 axes, a 4-axis delta robot cannot identify all parameters of
the load. In fact, only the following parameters are possible to identify:
• Iz , the inertia around the z-axis.
• m , the total mass.
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Operating manual - OmniCore 193
3HAC065036-001 Revision: J
© Copyright 2019-2021 ABB. All rights reserved.
6 Programming and testing
6.10.7 Load identification service routine
Continued