Parameters And Movements - ABB M2004 System Settings

Identification of load data for positioners IRBP

Parameters and movements

6.1.1 Parameters and movements
The parameters that are identified are: centre of gravity in a plane perpendicular to
Parameters
the axis, and moments of inertia around the axis, see
Note that the mass of the load must be known in advance. The mass data is entered when
performing the load identification.
Together with the identified parameters, a measurement accuracy is also given, indi-
cating how successful the identification was.
To perform the identification the positioner moves the load and computes the
parameters.
The movements for the axis are performed around two configuration points as
Movements
described in
approximately 30 degrees up and 30 degrees down. The optimum value for the Con-
figuration angle is 90 degrees.
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Figure 4. The parameters that can be identified on an IRBP L positioner.
Figure 5. At each configuration, the maximum motion for the axis is
Figure 5. Motion interval for the axis.
Figure 4.
3HEA 801233-001 Rev.- 2005-08