ABB OmniCore S Series Operating Manual page 169

Running LoadIdentify
To start the load identification service routine you must have an active program in
manual mode. Also the tool and payload that you want to identify must be defined
and active in Jog.
Operating manual - OmniCore
3HAC065036-001 Revision: E
Tip
Always run load identification with cold motors (no warm-up).
1 On the start screen, tap Operate, and then select Service Routines from the
menu.
2 Tap LoadIdentify.
3 Press the three-position enabling device.
4 In the Control Panel tap Play. You can also press the START hard button
on the FlexPendant.
The Load Identification operator message window is displayed.
5 Tap OK to confirm that current path will be cleared and that the program
pointer will be lost.
6 In the operator message window, tap Tool or PayLoad.
7 Tap OK to confirm that the correct tool or payload is active in the jogging
menu and that the tool or payload is correctly mounted.
Note
If it is not correct, release the three-position enabling device and select
the correct tool/payload in the Jogging menu. Then return to LoadIdentify,
press the three-position enabling device, and press Start. Tap Retry and
confirm that the new tool/payload is correct.
8 When identifying tool loads, confirm that the tool is active.
When identifying payloads, confirm that the payload's tool is active and
calibrated.
9 When identifying payloads with stationary TCP, confirm that the correct work
object is active and (preferably) calibrated. If it is correct, tap OK to confirm.
10 Select identification method. If you select the method where the mass is
assumed to be known, remember that the tool/payload that you use must
have the correct mass defined. Tap OK to confirm.
11 Select the configuration angle. The optimum is +90 or -90 degrees. If this is
impossible, tap Other and set the angle. The minimum is +30 or -30 degrees.
12 If the robot is not in a correct position for load identification, you will be asked
to jog one or more axes roughly to a specified position. When you have done
this tap OK to confirm.
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6 Programming and testing
6.10.6 Load identification service routine
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