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Identification of load data for positioners IRBP

Load Identification for IRBP R

44

3HEA 802352-001 Rev. A

6.3  Load Identification for IRBP R

A simplified view of the IRBP R positioner is shown in 

Figure 7.

 The parameters 

that are identified are: centre of gravity in a plane perpendicular to the axis, and three 
moments of inertia at the centre of gravity. Note that both the mass of the load and 
the distance z to the centre of gravity must be known in advance. 
These data are entered when performing the load identification.

One part of the identification movements for one axis are the same as for the IRBP 
L positioner. To find the extra moments of inertia we also move the interchange axis 
with the load to two different positions. 
The movements for the interchange axis are the movements described in 

Figure 7.

 

but only at one configuration point. It is important to remember that the identifica-
tion on one axis will be correct only if there is no load mounted on the other axis.

 Figure 7.   Simplified view of positioner IRBP R.

Содержание M2004

Страница 1: ...System Settings Welding Robot Station M2004 IRC5 3HEA 802352 001 Rev A...

Страница 2: ...document or the software or hardware described in this document The document or parts of it may not be reproduced or copied without prior permission from ABB Auto mation Technologies AB It may neithe...

Страница 3: ...ding gun with swan neck 15 3 2 Setup welding gun without BullsEye 16 4 Speed data for external axes 17 5 Drivers 19 5 1 Introduction 19 5 1 1 General 19 5 1 2 Parts handling 19 5 1 3 Advanced part 19...

Страница 4: ...02352 001 Rev A 6 4 Load Identification for IRBP A B and D 45 7 Define payload for a mechanical unit 47 7 1 MechUnitLoad 47 7 2 Program execution 48 7 3 Limitations 50 7 4 Syntax 50 7 5 Related inform...

Страница 5: ...erved when entering a safety supervised area 1 1 Description Safety instructions can be found under tab 1 in the AW system manual for all steps that involve risk for personal injury or material damage...

Страница 6: ...occur if the instructions are not followed Warning Warns of the risk of personal injury or serious damage to the product Always follow the instructions that accompany this symbol Electric shock Warns...

Страница 7: ...To avoid such injuries never begin a job without first eliminating the risks to safety These are descried below Elimination Action Info Illustration 1 Turn off the main power switch at the control mod...

Страница 8: ...celet Button A B for the ESD bracelet is located on the computer unit in the control module drive module The location is shown in the following figure Action Info Illustration 1 Use an ESD bracelet Th...

Страница 9: ...he axes revolution counters resolver against the synchronization position Usually the programmed positions are not affected by an update If this happens the entered values may be incorrect or the axis...

Страница 10: ...EA 802352 001 Rev A 5 Tap Revolution Counters 6 Tap Update Rev Counters 7 The system awaits a response Tap YES if you want to proceed 8 Select by tapping the axes to be updated Tap Select All to inclu...

Страница 11: ...the calibration values resolver values The chapter describes the procedure for all robot and positioner axes where there are calibration values are available 10 The system awaits a response Tap Updat...

Страница 12: ...libra ted When the unit concerned is not visible in the window use the scroll bar arrows in the lower part of the window 4 Tap Calibration Parameters 5 Tap Edit Motor Calibration 6 The system awaits a...

Страница 13: ...the robot and the additional axes Manual setting of the calibration values 3HEA 802352 001 Rev A 11 8 Confirm the value by tapping OK 9 The system awaits a response Tap Yes to restart Action Info Illu...

Страница 14: ...cribed here and equipment are required to calibrate the robot s axes Calibration of the external axes is performed in different ways depending on the type of positioner in question 2 3 1 Positioners o...

Страница 15: ...nit to be calibra ted When the unit concerned is not visible in the window use the scroll bar arrows in the lower part of the window 5 Tap Calibration Parameters 6 Tap Fine Calibration 7 The system aw...

Страница 16: ...the robot and the additional axes Positioners of the types A L and MTC 14 3HEA 802352 001 Rev A 10 The system awaits a response Tap Calibrate to confirm recalibration 11 Tap Close Action Info Illustr...

Страница 17: ...our own tool If you use a non standard welding gun it is necessary to run the load_identify service routine When using the Collision Detection functionality it is most important to have the right tool...

Страница 18: ...without BullsEye The position of the robot and its movements are always related to its tool coordinate system i e the TCP and tool orientation To get the best performance it is important to define the...

Страница 19: ...Speed data for external axes Use the following max speed data for IRBP axis IRBP positioner MTC 250 180 degree s MTC 750 150 degree s MTC 2000 90 degree s MTC 5000 39 degree s MIC 1 1 90 degree s MIC...

Страница 20: ...Speed data for external axes 18 3HEA 802352 001 Rev A...

Страница 21: ...nager With the part all positioner associated positions are saved e g process load service position and load data This enable a way of handling separately defined jobs in the system and in a simple wa...

Страница 22: ...mple Here the data pdvProgStn1 will be connected with partdata pdProgStn1 TASK PERS partdata pdProgStn1 ProgStn1 Program station 1 1 0 GapEmptyPart200 gif pdvProgStn1 PERS partadv pdvProgStn1 0 0 0 0...

Страница 23: ...tring instanceName SetNextPart num gapTaskNo num station PERS partdata newData UpdateNextPart num station partdata updData Procedures for partadv GetNextPartAdv num station VAR partadv retData INOUT n...

Страница 24: ...ivers RAPID instructions 22 3HEA 802352 001 Rev A UpdNextPartAdv num station partadv updData INOUT num statusCode Returns statusCode 0 OK 1 no part selected for station 2 no partadv selected in partda...

Страница 25: ...n 3HEA 802352 001 Rev A 23 5 1 5 Safety position General The robot is in an area outside of the positioner s working area Procedures Action Info Illustration 1 Welcome window Tap ABB to continue 2 Cho...

Страница 26: ...working area If you are using a multi robot system this procedure must be run for each robot Choose another robot by choosing the tab for the robot for which the safety position is to be set 5 Tap OK...

Страница 27: ...Drivers Safety position 3HEA 802352 001 Rev A 25 6 Run the robot to the desired safety posi tion Tap Start Action Info Illustration...

Страница 28: ...5 2 1 Positioner IRBP with mechanical stop General Applies to IRBP positioners types B C D K or R with mechanical stop The position for the mechanical stop for side 1 and side 2 must be adjusted to at...

Страница 29: ...bration of the station interchange unit for positioner IRBP 3HEA 802352 001 Rev A 27 3 Tap Setup 4 Choose Calib interch position Tap GO 5 Tap OK to start calibration and Cancel to cancel Action Info I...

Страница 30: ...o a safe position Tap Start 7 The system warns the operator before station interchange The station inter change unit will now move Make sure that you are at a safe dis tance from the unit Tap OK to co...

Страница 31: ...2 Positioner IRBP without mechanical stop General Applies to positioner IRBP type C index The interchange position for side 1 must be adjusted to attain the correct position Procedures Action Info Il...

Страница 32: ...Drivers Positioner IRBP without mechanical stop 30 3HEA 802352 001 Rev A 3 Tap Setup 4 Choose Calib interch position Tap GO 5 Tap OK to start calibration or Cancel to cancel Action Info Illustration...

Страница 33: ...positioner s working area Tap OK Run the robot to a safe position Tap Start 7 The system warns the operator before station interchange The station inter change unit will now move Make sure that you ar...

Страница 34: ...3HEA 802352 001 Rev A 9 Fine calibration of axis Tap OK to stop program execution Fine calibrate the mechanical unit and axis that are specified See section Recalibrating the axes section 2 3 for a m...

Страница 35: ...handling section 5 1 2 for part handling 5 3 2 Load position General A load position is the position the positioner side positioner is in after station inter change or that it can be run to after a f...

Страница 36: ...Setup 3 Choose the station for which the load position will be changed Tap GO 4 If no part is activated for the selected sta tion one must be activated for the sta tion See section Parts handling sec...

Страница 37: ...Drivers Work positions 3HEA 802352 001 Rev A 35 5 Specify the desired load position in degrees Action Info Illustration...

Страница 38: ...n to before a work program is begun Set the process position so that it is in a suitable position for the first position in the work program The value is saved in data type partadv in the component pr...

Страница 39: ...which the process position will be changed Tap GO 4 If no part is activated for the selected sta tion one must be activated for the sta tion See section Parts handling section 5 1 2 on how to do this...

Страница 40: ...ervice technician can per form inspections or service to a workpiece or fixture The value is saved in data type partadv in the component serviceAngle which the pertinent part refers to in the componen...

Страница 41: ...which the service position will be changed Tap GO 4 If no part is activated for the selected sta tion one must be activated for the sta tion See section Parts handling section 5 1 2 on how to do this...

Страница 42: ...Drivers Service position 40 3HEA 802352 001 Rev A...

Страница 43: ...ving the positioner Here we will describe which parameters are identified with the load identificationL 6 1 Load Identification for IRBP L C A simplified view of positioner IRBP L is shown in Figure 2...

Страница 44: ...cation was To perform the identification the positioner moves the load and computes the parameters Movements The movements for the axis are performed around two configuration points as described in Fi...

Страница 45: ...gure 6 Load identification is allowed on axes 2 and 3 for this positioner Load identification can only be performed when axis 1 is in one of its end positions This is checked by the load identificatio...

Страница 46: ...the centre of gravity must be known in advance These data are entered when performing the load identification One part of the identification movements for one axis are the same as for the IRBP L posit...

Страница 47: ...rocedure If axis 1 is too far from this position the load identification procedure will suggest which angle it should be moved to The parameters that are identified are centre of gravity and three mom...

Страница 48: ...Identification of load data for positioners IRBP Load Identification for IRBP A B and D 46 3HEA 802352 001 Rev A...

Страница 49: ...nit The axis closest to the payload should be selected in the MechUnitLoad instruction When execution of ActUnit INTERCH should one MechUnitLoad for both axis 2 and axis 3 be executed Example ActUnit...

Страница 50: ...he specified load is defined for the specified mechanical unit and axis This means that the payload is controlled and monitored by the control system The default payload at cold start up for a certain...

Страница 51: ...rkpiece1 on the mechanical unit INTERCH axis 2 MechUnitLoad INTERCH 3 workpiece2 Defines payload workpiece2 on the mechanical unit INTERCH axis 3 MoveL homeside2 v1000 fine gun1 The axes of the mechan...

Страница 52: ...he movement instruction previous to this instruction should be terminated with a stop point in order to make a restart in this instruction possible following a power failure 7 4 Syntax MechUnitLoad Me...

Страница 53: ...Related information Described in Identification of payload for external mechanical units LoadID CollDetect Program muloadid prg Mechanical units Data Types mecunit Definition of load data Data Types l...

Страница 54: ...Define payload for a mechanical unit Related information 52 3HEA 802352 001 Rev A...

Страница 55: ......

Страница 56: ...3HEA 802352 001 Rev A ABB...

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