ABB OmniCore S Series Operating Manual page 173

If the load identification movements are interrupted by any kind of stop (program
stop, emergency stop, etc.), the load identification must be restarted from the
beginning. Confirm the error and press Start to automatically restart.
If the robot is stopped on a path with program stop and load identification is
performed at the stop point, the path will be cleared. This means that no regain
movement will be performed to return the robot back to the path.
The load identification ends with an EXIT instruction. That means that the program
pointer is lost and must be set to main before starting any program execution.
LoadIdentify for 4-axis robots
When running LoadIdentify on a robot with 4 instead of 6 axes, there are some
differences. In this description of the differences the robot type is assumed to be
similar to IRB 260, IRB 460, IRB 660, IRB 760, or IRB 910SC.
The main differences are:
The first axis (axis 1 or 2) will move approximately ±23 degrees from its current
position. Therefore, the load can move a large distance during the identification.
Axes 3 and 6 (or 4) will move as for 6-axis robots. The configuration angle for axis
6 (or 4) works exactly as for 6-axis robots.
Because there is not 6 axes, a 4-axis robot cannot identify all parameters of the
load. The following parameters cannot be identified:
Operating manual - OmniCore
3HAC065036-001 Revision: E
Tip
The tool and/or payload data can be set manually if the load is small (10% or
less of the maximum load) or symmetrical, for example if the tool load is
symmetrical around axis 6.
Tip
If the mass of the tool or payload is unknown, the service routine LoadIdentify
can in some cases identify a 0 kg mass. If the load is very small compared to the
maximum load for the robot, then a 0 kg mass can be ok. Otherwise, try the
following to identify the mass.
• Check that the arm loads are correctly defined and redo the identification.
• Find the weight of the load in some other way and perform a load
identification with known mass to remove the dependency on arm loads.
• The used axes are:
- 1 (or 2 for some robot models)
- 3 (for all robot models)
- 6 (or 4 for some robot models)
• Because the first axis (axis 1 or 2) is used, the resulting movements can be
large.
• Not all load parameters can be identified.
• I - The inertia around the x-axis.
x
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6 Programming and testing
6.10.6 Load identification service routine
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