ABB OmniCore S Series Operating Manual page 171

Running LoadIdentify with ModalPayLoadMode deactivated
When the system parameter ModalPayLoadMode is deactivated, set to 0,
LoadIdentify will identify the tool load and the total load. It is no longer possible to
define the payload.
With ModalPayLoadMode deactivated it is possible to use the \TLoad argument
in movement instructions. The \TLoad argument describes the total load used in
the movement. The total load is the tool load together with the payload that the
tool is carrying. If the \TLoad argument is used, then the loaddata in the current
tooldata is not considered. For more information about ModalPayLoadMode in
movement instructions, see the section MoveL in Technical reference
manual - RAPID Instructions, Functions and Data types.
To start the load identification service routine you must have an active program in
manual mode and the tool and payload that you want to identify must be defined
and active in the Jogging window.
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.
9 Select the identification method. If you select the method where the mass is
assumed to be known, remember that the tool/total load that you use must
have the correct mass defined. Tap OK to confirm.
10 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.
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6 Programming and testing
6.10.6 Load identification service routine
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