ABB OmniCore S Series, Руководство по эксплуатации

Страница: 149 / 236

6.8.4 Editing the payload data
Overview
Use the payload data to set physical properties of the payload such as weight and
center of gravity.
This can also be done automatically with the service routine LoadIdentify. See
Operating manual - OmniCore .
Displaying the payload definition
1 On the start screen, tap Calibrate , and then select Payload from the menu.
2 Tap the payload you want to edit.
The Edit Payload window is displayed.
3 Tap Value .
The data that defines the payload appears.
4 Proceed with changing the data as described in Changing the payload data
on page 149 and then tap Save .
Changing the payload data
This procedure describes how to manually enter the payload data. This can also
be done automatically by running the service routine LoadIdentify.
Unit Instance Action
[kg]
load.mass
Enter the weight of the payload. 1
[mm]
load.cog.x
Enter the payload’s center of gravity. 2
load.cog.y
load.cog.z
load.aom.q1
Enter the orientation of the axis of moment. 3
load.aom.q2
load.aom.q3
load.aom.q3
[kgm
2
]
ix
iy
Enter the payload’s moment of inertia. 4
iz
- - Tap Save to use the new values, Cancel to leave
the data unchanged.
5
Using the
PayLoadsInWristCoords
parameter
By using the
PayLoadsInWristCoords
parameter, the loaddata for payloads can
be specified relative to the wrist instead of the active TCP or work object. This can
be useful if several tool or TCP or work objects (when tool is stationary) are used
for one payload. In this case only one load identification is needed instead of one
for each tool or TCP or work object. Thus it is possible to use the same payload
loaddata for any robhold or stationary tool being active. This saves the time (for
example, during commissioning).
Continues on next page
Operating manual - OmniCore 149
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.8.4 Editing the payload data