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1 OUTLINE
This function is a function to estimate the load of the end -of-arm part of the robot.
This function can move the robot and estimate above-mentioned information automatically.
In order to use this function, Payload Identification function option (A05B-****-J669)1 is needed. Moreover,
Payload Identification function needs to be supported about the robot model that wants to be used. Payload
Identification function cannot be used with the robot which d oesn't support that function.
2 OPERATION PROCEDURE
In addition, when the mechanism parts such as motors are exchanged, the operation of Calibration is
needed.
The accuracy of Estimation worsens if Calibration is not done though those parts were exchanged.
1
The **** part is a four digits number that is different according to the series of the software. For instance, the order specification
becomes A05B-2400-J669 for 7D70 series.
3 CALIBRATION MODE
[OFF]
4 CALIBRATION STATUS *****
6. Jog the robot to the position in which Estimation's action is done.
NOTE Only the J5 axis and the J6 axis move while Estimation. Other axes are kept the
position of beginning of Estimation, and do not move.
The range of the movement while Estimation is between the two points being set on
POS1 screen and POS2 screens. (Refer to 10. and 12.)
NOTE Please make the robot be in the position where the rotation axis of J5 axis becomes
the horizontal.
Nearer vertical the rotation axis of the J5 axis becomes, worse Estimation becomes.
7. Press F3 "NUMBER" and then select the Payload schedule number on which the result of
Estimation wants to be set.
8. If the mass of the estimated load is known, move the cursor to the line 2, make it to "YES" and
specify (input) the value of the mass.
NOTE Estimation with specifing mass is more accurate than without specifing. Please
specify mass as much as possible.
Even if mass is n ot specified, Estimation, the accuracy isn't as well as with specifing
mass, can work if the following conditions are filled.
The moment around J5 axis and that around J6 axis are large enough.
the rotation axis of the J5 axis
The mass is large enough, and, the distances of both A and B are large enough.
The center of gravity of the load is away enough from the rotation axis of the J5 axis and the
rotation axis of the J6 axis .
The c enter of gravity of the load is near or on the plane that contains the rotation axis of the J5 axis
and the rotation axis of the J6 axis concerning the positions set at POS1 screen and POS2 screen.
the rotation axis
of the J5 axis
The interval between the positions set at POS1 screen andPOS2 screen is about 180 concerning
J6 axis .
9. Press NEXT key and then press F4 "DETAIL " to display POS1 screen.
MOTION/ID POS1 JOINT
10 %
Group1
1 POSITION for ESTIMATION
POSITION1
J1 <**********>
J2 <**********>
J3 <**********>
J4 <**********>
2 J5 < -90.000>
3 J6 < -90.000>
J7 <**********>
J8 <**********>
J9 <**********>
13.
Press PREV to return to PAYLOAD ID screen.
14.
Disable the teach pendant, and press F4 "EXEC". Then, the message "Robot moves and
estimates. Ready?" is displayed.
15.
Please select Estimation whether to be executed. (When "YES" is selected, the robot moves.
Please pay attention so that there is no danger.)
To move the robot and execute Estimation, press F4 "YES".
To cancel executing Estimation, press F5 "NO".
16.
When the motion at low speed and that at high speed end, the parameters about the load are
estimated. (The motion at high speed automatically starts after that at low speed is finished.
So as not to become a dangerous situation when the motion at high speed starts, please do
not do approaching the robot or the like even though it is low-speed.)
17.
Press F5 "APPLY" to set the estimated value s on the payload schedule number. At this time,
the message "Path and Cycletime will change. Set it?" is displayed.
18.
Please select the estimated value s whether to be set.
To set them, press F4 "YES".
To cancel setting them, press F5 "NO".
19.
When the values which tried to be set exceed the permissible load (displayed in the
parentheses), the message "Load is OVER spec ! Accept?" is displayed. Please select
whether to set them as well as the above -mentioned.
When the mechanical parts such as motors are exchanged, CALIBRATION is needed.
The accuracy of Estimation worsens if CALIBRATION is not done though those parts were exchanged.
CALIBRATION is done by operating PAYLOAD ID screen. CALIBRATION is done by executing Estimation
with the switch for CALIBRATION turned on.
1. Make sure the end-of-arm tooling is not attached to the robot arm.
When CALIBRATION is done, no end -of-arm tooling must be attached to the robot arm.
NOTE If CALIBRATION is done with some end-of-arm tooling attached to the robot arm,
improper CALIBRATION data is set and a good Estimation is not possible thereafter.
In that case, please do CALIBRATION appropriately again.
2. Press the MENUS key to bring up the screen menu.
3. Select 6 SYSTEM on the next page.
4. Press F1[TYPE] to display the pull-up menu.
5. Select Motion to display Payload List screen. (When screens other than Payload List screen
are displayed, several pushing PREV key display that screen.) To enter the screen for other
3 CALIBRATION MODE
[OFF]
4 CALIBRATION STATUS *****
7. Jog the robot to the position in which Estimation's action is done.
NOTE Only the J5 axis and the J6 axis move while Estimation. Other axes are kept the
position of beginning of Estimation, and do not move.
The range of the movement while Estimation is between the two points being set on
POS1 screen and POS2 screens. (Refer to 9., 10. and 12.)
NOTE Please make the robot be in the position where the rotation axis of J5 axis becomes
the horizontal.
Nearer vertical the rotation axis of the J5 axis becomes, worse Estimation becomes.
8. Press NEXT key and then press F4 "DETAIL " to display POS1 screen.
MOTION/ID POS1 JOINT
10 %
Group1
1 POSITION for ESTIMATION
POSITION1
J1 <**********>
J2 <**********>
J3 <**********>
J4 <**********>
2 J5 < -90.000>
3 J6 < -90.000>
J7 <**********>
J8 <**********>
J9 <**********>
13.
Press PREV to return to PAYLOAD ID screen.
14.
Move the cursor to "CALIB RATION MODE" of the line 3, and turn it to "ON".
NOTE When CALIBRATION ends, "CALIBRATION MODE" is automatically turned into " OFF".
Please do not change "CALIBRATION MODE" while CALIBRATION or Estimation. If
"CALIBRATION MODE" is changed while CALIBRATION or Estimation, abnormal
CALIBRATION may be done or CALIBRATION may be not done.
15.
Move the cursor to the line 4 etc. (make EXEC displayed on F4), disable the teach pendant,
and press F4 "EXEC". Then, the message "Robot moves and estimates. Ready?" is
displayed.
16.
Please select Estimation whether to be executed. (When "YES" is selected, the robot moves.
Please pay attention so that there is no danger.)
To move the robot and execute Estimation, press F4 "YES".
To cancel executing Estimation, press F5 "NO".
17.
When the motion at low speed and that at high speed end, CALIBRATION is finished. (The
motion at high speed automatically starts after that at low speed is finished. So as not to
become a dangerous situation when the motion at high speed starts, please do not do
approaching the robot or the like even though it is low-speed.)