ABB OmniCore S Series Operating Manual page 167

To improve accuracy if the upper arm load A is mounted, input the known mass
of B and C and choose the known mass method when identifying.
Configuration angles
To perform the identification the robot moves the load after a specific pattern and
calculates the data. The axes that move are 3, 5 and 6. At the identification position,
the motion for axis 3 is approximately ±3 degrees and for axis 5 it is approximately
±30 degrees. For axis 6 the motion is performed around two configuration points.
The optimum value for the configuration angle is either +90 degrees or -90 degrees.
A
B
C
LoadIdentify with arm loads mounted
The best way to perform load identification is to use a robot with no arm loads
mounted. If this is not possible, good accuracy can still be achieved. Consider, for
example, the robot in the figure below, which has arc welding equipment mounted
on it.
A
B
C
D
Operating manual - OmniCore
3HAC065036-001 Revision: E
30°
30°
B
30° 30°
A
Configuration 1 (start position)
Configuration angle
Configuration 2
Cable 1
Load 1
Cable 2
Load 2
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6 Programming and testing
6.10.6 Load identification service routine
C
Continued
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