ABB OmniCore S Series Operating Manual page 174

6 Programming and testing
6.10.6 Load identification service routine
Continued
However, for this type of robot the above parameters have negligible effect on the
motion performance. See the definition of the load coordinate system in the
following figure.
174
• I - The inertia around the y-axis.
y
• m - The z-coordinate for the center of mass.
z
Tip
It is possible that the identification procedure fails to estimate the center of gravity
if the measured torque data has too high variance. If this happens, it should still
be possible to get good results by running the LoadIdentify routine again,
preferably with another position of the last axis.
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Operating manual - OmniCore
3HAC065036-001 Revision: E