FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.10.5. LoadIdentify, load identifiction service routineContinuedError handlingIf the enabling device is released during the load identification (before the movements start),the routine can always be restarted by pressing the enabling device again and then pressingthe Start button.If an error should occur during the load identification movements, the routine must berestarted from the beginning. This is done automatically by pressing Start after confirmingthe error. To interrupt and leave the load identification procedure, tap Cancel Call Routinein the program editor’s debug menu.Limitations for LoadIdentifyOnly tool loads and payloads can be identified with LoadIdentify. Thus arm loads cannot beidentified using this procedure.If the load identification movements are interrupted by any kind of stop (program stop,emergency stop, etc.), the load identification must be restarted from the beginning. This isdone automatically if you press Start after confirming the error.If the robot is stopped on a path with program stop and load identification is performed at thestop point, the path will be cleared. This means that no regain movement will be performedto return the robot back to the path.If the measurement accuracy is lower than 80%, the result of the load identification may havesignificant errors. In this case, a higher accuracy may be achieved by repeating theLoadIdentify routine. If repeating the routine does not give a higher accuracy, then the torquesmeasured in the identification are probably too small and the tool and/or payload data mustbe set manually. This is typically the case if the mass of the load is small (10% or less of themaximum load). It can also happen if the load has a particular symmetry property, for instanceif the tool load is symmetrical around axis 6. However, even if the measurement accuracy islow some of the identified data may still be correct.Load identification for suspended robots is only available for bending backward robots, e.g.IRB 140.Related informationIt is also possible to include LoadIdentify in a program by using RAPID instructions. Theseare described in RAPID reference manual - Instructions and RAPID reference manual -Functions and data types.How to enter the data manually is described in Editing the tool data on page 148, and Editingthe payload data on page 162.The product manual for the robot contain information on how and where to mount the loads.Load identification for positioners is done with the service routine ManLoadIdentify. This isdescribed in the manual System settings for the positioner.2183HAC 16590-1 Revision: B