ABB IRC5 with FlexPendant, Руководство по эксплуатации

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• The system is in manual mode.
Note that LoadIdentify cannot be used for
tool0
.
Prerequisites for payloads
Before running the LoadIdentify service routine for a payload, make sure that:
• The tool and payload are correctly mounted.
• Axis 6 is close to horizontal.
• The tool load is known (run LoadIdentify for the tool first).
• The upper arm load is defined, if the payload mass is to be identified.
• When using a moving TCP, the tool must be calibrated (TCP).
• When using a stationary TCP, the corresponding work object must be
calibrated (user frame and object frame).
• The axes 3, 5, and 6 are not close to their corresponding working range limits.
• The speed is set to 100%.
• The system is in manual mode.
Note that LoadIdentify cannot be used for
load0
.
Running LoadIdentify
To start the load identification service routine you must have an active program in
manual mode and the tool and payload that you want to identify must be defined
and active in the
Jogging window.
Tip
Always run load identification with cold motors (no warm-up).
Information Action
How to start service routines
is described in
Running a
service routine on page 217 .
Start LoadIdentify from the Program Editor . Press the
three-position enabling device and then press the Start
button on the FlexPendant.
1
Tap Cancel and then Cancel
Call Rout to quit the service
routine without loosing the
program pointer.
Tap OK to confirm that current path will be cleared and
that the program pointer will be lost.
2
Tap Tool or Payload . 3
If it is not correct, release the
three-position enabling
device and select the correct
tool/payload in the
Jogging
menu. Then return to Load-
Identify, press the three-pos-
ition enabling device, and
press Start. Tap
Retry and
confirm that the new
tool/payload is correct.
Tap OK to confirm that the correct tool and/or payload
is active in the jogging menu and that the tool load/pay-
load is correctly mounted.
4
See step 4 . When identifying tool loads, confirm that the tool is active. 5
When identifying payloads, confirm that the payload’s
tool is active and calibrated.
Continues on next page
Operating manual - IRC5 with FlexPendant 227
3HAC050941-001 Revision: G
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5 Programming and testing
5.9.5 LoadIdentify, load identification service routine
Continued