ABB DressPack IRB 6620, Руководство по эксплуатации продукта

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2 Installation
2.4.1. DressPack - Armload parameters and LoadId
3HAC027309-001 Revision: D 108
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Procedures Step 1 - Arm load data
How to define the Arm load data is described in Operating manual - IRC5 with FlexPendant
section Configuring system parameters .
All system parameters are described in Technical reference manual - System parameters .
Define the arm loads, typically:
• load:_1
•
load:_2
• load:_3
The used armload is defined for each arm, irb_1, irb_2, and irb_3.
Procedures Step 2 - Load Identification
It is recommended to use the service routine Load Identification (LoadID) to define the load
data for an individual robot, as this method not only measures the mass but also the inertia of
the tool.
Detailed in Operating manual - IRC5 with FlexPendant .
Action Note
1. Check if the cable package prevents
movements.
If the cable package prevent the motions.
2. If not:
Run Load Identification .
The DressPack forces on the wrist will
"increase" the load parameters, but this is
anyhow a good approximation of the
actual load case to be considered by the
motion planning functions of the robot.
3. If the cable package prevent the motions:
Remove the cable package.
4. Make the Load Identification.
5. Refit the cable package.
6. Add the DressPack load manually. See Procedures Step 1 - Arm load data on
page 108 .
Continued