ABB OmniCore, Руководство по эксплуатации

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6.10.7 Load identification service routine
When to use this service routine
The LoadIdentify service routine is used to automatically identify the data of loads
mounted on the robot. The data can also be entered manually, but this requires
information that may be difficult to calculate.
To run LoadIdentify, there are a number of things to consider. These are described
on the following pages. There is also information on error handling and limitations
described in this chapter.
WARNING
It is important to always define the actual tool load and, when used, the payload
of the robot (for example, a gripped part). Incorrect definitions of load data can
result in overloading of the robot mechanical structure. There is also a risk that
the speed in manual reduced speed mode can be exceeded.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot may not use its maximum capacity.
• Impaired path accuracy including a risk of overshooting.
• Risk of overloading the mechanical structure.
The controller continuously monitors the load and writes an event log if the load
is higher than expected. This event log is saved and logged in the controller
memory.
LoadIdentify
LoadIdentify can identify the tool load and the payload. The data that can be
identified are mass, center of gravity, and moments of inertia.
Upper arm load A
Tool load B
Payload C
Before running the load identification for the payload, make sure the tool load data
is correctly defined, for example by running LoadIdentify for the tool.
To identify the mass of B and C, axis 3 has to perform some movement. This means
that to identify the mass, the upper arm load A must be known and correctly defined
first.
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Operating manual - OmniCore 185
3HAC065036-001 Revision: J
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6 Programming and testing
6.10.7 Load identification service routine