ABB IRC5 with FlexPendant, Руководство по эксплуатации

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LoadIdentify with arm loads mounted
The best way to perform load identification is to use a robot with no arm loads
mounted. If this is not possible, good accuracy can still be achieved. Consider, for
example, the robot in the figure below, which has arc welding equipment mounted
on it.
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Cable 1 A
Load 1 B
Cable 2 C
Load 2 D
If we want to use load identification to find the data of load 2, the most important
thing to remember is to make sure that the upper arm load is correctly defined, in
particular its mass and center of gravity along the robot arm. The arm load includes
everything that is mounted on the robot, except tool load and payload. In the figure
above, cable 1, cable 2, and load 1 are included in the arm load, the total weight
and center of gravity have to be calculated.
When performing the load identification, cable 2 should be disconnected since it
will otherwise put an extra force on load 2. When identifying load 2 with such a
force present, the result may differ considerably from the correct load. Ideally,
cable 2 should be disconnected from load 2 and fastened on the upper arm. If this
is not possible, the cable can also be disconnected at load 1 and fastened to the
upper arm in such a way that the resulting force on load 2 is minimized.
Prerequisites for tool loads
Before running the LoadIdentify service routine for a tool load, make sure that:
• The tool is selected in the jogging menu.
• The tool is correctly mounted.
• Axis 6 is close to horizontal.
• The upper arm load is defined, if the tool mass is to be identified.
• The axes 3, 5, and 6 are not close to their corresponding working range limits.
• The speed is set to 100%.
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226 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