Start Of Robot In Cold Environments - ABB IRB 1200 Product Manual

2 Installation and commissioning

2.8 Start of robot in cold environments

2.8 Start of robot in cold environments
Introduction
This section describes how to start the robot in a cold environment if it is not starting
the normal way.
Problems with starting the robot
Event message from Motion Supervision
Use this procedure if an event message indicates a problem with Motion supervision
at start-up. More information about Motion Supervision is found in Technical
reference manual - System parameters.
1
2
3
Robot stopping with other event message
Use this procedure if the robot is not starting.
1
Adjusting the speed and acceleration during warm-up
Depending on how cold the environment is and what program is being used, the
speed might need to be ramped up until reached maximum. The table shows
examples of how to adjust the speed:
Work cycles
3 Work cycles
5 Work cycles
5 Work cycles
5 Work cycles
More than 5 Work cycles
If the program consists of large wrist movements, it is possible that the reorientation
velocity, which is always high in predefined velocities, needs to be included in the
ramping up.
114
Action
Turn off Motion Supervision.
Start the robot.
When the robot has reached normal working temper-
ature, the Motion Supervision can be turned on
again.
Action
Start the robot with its normal program but
with reduced speed.
AccSet
20, 20
40, 40
60, 60
100, 100
100, 100
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Note
Note
The speed can be regulated with the
RAPID instruction VelSet.
Speed/velocity
v100 (100 mm/s)
v400 (400 mm/s)
v600 (600 mm/s)
v1000 (1000 mm/s)
Max.
Product manual - IRB 1200
3HAC046983-001 Revision: S