RAPID reference manual - Technology

LoadIdRobotWare-OSInstructionConditionThe following conditions should be fulfilled before load measurements with LoadId:• Make sure that all loads are correctly mounted on the robot• Check whether valid robot type with ParIdRobValid• Check whether valid position with ParIdPosValid- Axes 3, 5 and 6 not close to their corresponding working range- Tilt housing almost horizontal, i.e. that axis 4 is in zero position• The following data should be defined in system parameters and in arguments to LoadIdbefore running LoadId:Table 3 Load identification of toolLoad identificationmodes /Defined data beforeLoadIdMovingTCPMassKnownMoving TCPMassUnknownRoomfixTCPMass KnownRoomfixTCPMassUnknownUpper arm load(System parameter)DefinedDefinedMass in tool Defined DefinedTable 4 Load identification of payloadLoad identification modes/Defined data beforeLoadIdMovingTCPMassKnownMoving TCPMassUnknownRoomfixTCPMassKnownRoomfix TCPMassUnknownUpper arm load(System parameters)DefinedDefinedLoad data in tool Defined Defined Defined DefinedMass in payload Defined DefinedTool frame in tool Defined DefinedUser frame in work object Defined DefinedObject frame in work object Defined Defined• Operating mode and speed override:- Slow test in manual mode reduced speed- Load measurements in automatic mode (or manual mode full speed) with speedoverride 100%230 RAPID reference manual - part 1a, Instructions A-R