RAPID reference manual - Technology

LoadIdRobotWare-OSInstruction[ \ ConfAngle ] Data type: numOption argument for specification of a specific configuration angle +/- degrees tobe used for the parameter identification.*)*)Load identification pos axis 6 inanother configuration(Selected by ConfAngle)Positive ConfAngle in degreesAxis 6*) Measurement movements in differentconfigurations axis 6Load identification pos axis 6 at start(Verified with ParIdPosValid)Default + 90 degrees if this argument is not specified.Min. + or - 30 degrees. Optimum + or - 90 degrees.[ \ SlowTest ] Data type: switchOption argument to specify whether only slow test for checking of free workingarea should be done:- LoadId ... \SlowTest -> Run only slow test- LoadId ... -> Run only measurement and update tool or payload[ \ Accuracy ] Data type: numVariable for output of calculated measurement accuracy in % for the whole loadidentification calculation (100% means maximum accuracy).Program executionThe robot will carry out a large number of relative small transport and measurementmovements on axes 5 and 6. For identification of mass, movements will also be madewith axis 3.After all measurements, movements, and load calculations, the load data is returned inargument Tool or PayLoad. The following load data is calculated:- Mass in kg (if mass is unknown otherwise not affected)- Centre of gravity x, y, z and axes of moment- Inertia ix, iy, iz in kgm232 RAPID reference manual - part 1a, Instructions A-R