ABB OmniCore S Series, Руководство по эксплуатации, Страница: 167 / 236

To improve accuracy if the upper arm load A is mounted, input the known mass
of B and C and choose the
known mass method when identifying.
Configuration angles
To perform the identification the robot moves the load after a specific pattern and
calculates the data. The axes that move are 3, 5 and 6. At the identification position,
the motion for axis 3 is approximately ±3 degrees and for axis 5 it is approximately
±30 degrees. For axis 6 the motion is performed around two configuration points.
The optimum value for the configuration angle is 90 degrees or -90 degrees.
A
B
C
30° 30°
30°
30°
Configuration 1 (start position) A
Configuration angle B
Configuration 2 C
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.
Cable 1 A
Load 1 B
Cable 2 C
Load 2 D
Continues on next page
Operating manual - OmniCore 167
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
6 Programming and testing
6.10.6 Load identification service routine
Continued