ABB OmniCore S Series Operating Manual page 170

6 Programming and testing
6.10.6 Load identification service routine
Continued
Load diagram check
For robots that support the Load diagram check functionality, the combination of
the arm load, tool and payload, will be assessed against the load diagram. The
ratings of total handling weight as well as of the center of gravity distance to the
load diagram in Z and L directions will be provided both for wrist-up and wrist-down
configurations.
There is a message if the load is approved or not, and an Analyze button to view
more information.
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If the robot is still not in a correct position for load identification, the robot
will slowly move to the correct position. Press Move to start the movement.
Note
Axis 1 to 3 must not be more than 10 degrees from proposed position.
13 The robot can go through the load identification movements slowly before
performing the load identification (slow test). Tap Yes if you want a slow test
and No to proceed to the identification.
Note
This is useful for ensuring that the robot will not hit anything during the
identification. However, this will take a lot longer time.
Note
If the load identification is planned to be run in manual full speed, then the
slow test is required before the actual measurement can start.
14 The setup for load identification is now complete. To start the motion, switch
to Automatic mode and Motors On. Then tap Move to start the load
identification movements.
15 When the identification is finished, switch back to manual mode, press the
three-position enabling device and the Start button. Tap OK to confirm.
16 The result of the load identification is now presented on the FlexPendant.
For robots that support the Load diagram check functionality, there is a
message if the load is approved or not, and an Analyze button to view more
information.
17 Tap Yes to update the selected tool or payload with the identified parameters.
Tap No to exit LoadIdentify without saving the parameters.
• Load approved
• Load not approved
• Load approved only with wrist down
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Operating manual - OmniCore
3HAC065036-001 Revision: E