Payloads; Creating A Payload - ABB IRC5 with FlexPendant Operating Manual

5 Programming and testing

5.7.1 Creating a payload

5.7 Payloads

5.7.1 Creating a payload
What happens when I create a payload?
A variable of the type loaddata is created. The variables name will be the name
of the payload. For more information on data types, see Technical reference
manual - RAPID Instructions, Functions and Data types.
Adding a new payload and setting data declaration
The payloads coordinate system will be set to the position, including orientation,
of the world coordinate system.
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Action
On the ABB menu tap Jogging.
Tap Payload or Total Load to display the list of available payloads.
Note
Total Load is displayed only when the value of ModalPayLoadMode is set to 0 and
the mechanical units are TCP robots. See
on page 201.
Tap New to create a new payload and enter the data. See
on page 201.
Tap OK.
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.
When incorrect load data is specified, it can often lead to the following
consequences:
• The robot will not be used to 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.
© Copyright 2018 ABB. All rights reserved.
Setting the value for ModalPayLoadMode
Payload declaration settings
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G