ABB IRB 4600 - 20/2.50, Руководство по эксплуатации продукта

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2.7 Robot in cold environments
2.7.1 Start of robot in cold environments
Introduction
This procedure describes how to start the robot in a cold environment.
Starting in cold environment
Use this procedure to start the robot in a cold environment if it is not starting the
normal way:
Note Action
Turn off motion supervision. 1
Start the robot. 2
When the robot has reached normal working
temperature, the motion supervision can be
turned on again. 3
If still not starting...
If the robot is still not starting after turning off motion supervision, use this
procedure:
Note Action
Velocity can be regulated with the RAPID
code instructions and the instruction
AccSet. Start the robot with its normal program but
with lowered velocity. 1
Adjusting velocity
Depending on how cold the environment is and the program being used, the
ramping up of velocity has to be adjusted. The table shows examples of how to
adjust velocity:
Velocity AccSet Workcycles
100 20.20 3 Work cycles
400 40.40 5 Work cycles
600 60.60 5 Work cycles
1000 100.100 5 Work cycles
Max. 100.100 More than 5 Work cycles
If the program consists of large wrist movements, it is possible that the reorientation
velocity, which is always high in predefined velocities, needs to be included in the
ramping up.
3HAC033453-001 Revision: H 101
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2 Installation and commissioning
2.7.1 Start of robot in cold environments