RAPID reference manual - Technology

InstructionLoadIdRobotWare-OSArgumentsLoadId ParIdType LoadIdType Tool [\PayLoad] [\WObj][\ConfAngle] [\SlowTest] [\Accuracy]ParIdTypeData type: paridnumType of parameter identification as defined in the table below.Table 5Value Symbolic constant Comment1 TOOL_LOAD_ID Identify tool load2 PAY_LOAD_ID Identify payload(Ref. instruction GripLoad)LoadIdTypeData type: loadidnumType of load identification as defined in the table below.Table 6Value Symbolic constant Comment1 MASS_KNOWN Known mass in tool or payload respectively.(Mass in specified Tool or PayLoad must be specified)2 MASS_WITH_AX3 Unknown mass in tool or payload respectively.Identification of mass in tool or payload will be done with movementsof axis 3ToolData type: tooldataPersistent variable for the tool to be identified.If argument \PayLoad specified, the persistent variable for the tool in use.For load identification of tool, the following arguments \PayLoad and \WObjshould not be specified.[ \ PayLoad ] Data type: loaddataPersistent variable for the payload to be identified.This option argument must always be specified for load identification of payload.[ \ WObj ] Data type: wobjdataPersistent variable for the work object in use.This option argument must always be specified for load identification of payloadwith roomfix TCP.RAPID reference manual - part 1a, Instructions A-R 231