RLPID::
200:
Is actual mass < 200 kg ?
201:
Yes
202:
No
203:
Not allowed operating mode
204:
for slow test.
205:
Switch to manual mode reduced speed
206:
and start program execution !
207:
for load measurement.
208:
Switch to automatic mode
209:
or manual full speed mode
210:
Press MOVE for slow test movements !
211:
for measurement movements !
212:
MOVE
213:
Press MOVE for measurement movements !
214:
* RAPID Load Identification Program *
215:
* The Tool to identify must be mounted
216:
on robot, defined with name
217:
and active in the jogging window.
218:
* Suitable robot axes (1-6) positions.
219:
* Mounted arm load must be defined.
220:
Identification of Tool or PayLoad ?
221:
Tool
222:
PayLoad
223:
Cancel
224:
Load identification of active tool:
225:
Identify tool named
226:
?
227:
OK
228:
=
229:
PayLoad named
230:
0 = Display more PayLoad
231:
Select PayLoad for identification ?
232:
Display available PayLoad once again ?
233:
Confirm !
234:
* The Tool (ToolGripper) and the PayLoad
235:
must be mounted on robot.
236:
* The PayLoad to identify must be
237:
defined with name.
238:
Load identification of PayLoad with
239:
use of already mounted, active and
240:
load identified Tool (Tool Gripper).
241:
Use tool named
242:
The used moving Tool for load
243:
identification of PayLoad must
244:
have calibrated TCP.
245:
Calibrated tool named
246:
The used moving active workobject for
247:
have all frames calibrated.
248:
Calibrated WObj named
249:
load identification of PayLoad must
250:
Identification method for
251:
1 = Known mass in
252:
2 = Unknown mass in
253:
3 = Do the biggest movement with axis 5
254:
4 = Do the biggest movement with axis 6
255:
0 = Cancel
256:
Select identification method ?
257:
Select angle (with sign) between
258:
actual axis 6 position and the coming
259:
ditto for the measurement movements.
260:
Recommendation + or - 90 degrees.
261:
Min. +/- 30 degrees.
262:
Select configuration angle ?
263:
JOGG axis
264:
to
265:
degrees
266:
JOGG roughly to displayed position !
267:
The program will now slowly move some
268:
wrist axes to precise position.
269:
Press MOVE for adjust movements !
270:
Should test of measurement movements
271:
first be done with low speed in
272:
MAN/RED. SPEED before the real
273:
measurements with higher speed:
274:
Run test with slow speed ?
275:
Result of Tool identification:
276:
Mass (kg)                =
277:
Centre of gravity (mm) x =
278:
Centre of gravity (mm) y =
279:
Centre of gravity (mm) z =
280:
Measure Accuracy (%)     =
281:
Update Tool
282:
Result of PayLoad identification:
283:
Update PayLoad
284:
Retry
285:
:
286:
Running slow test movements ...
287:
Running measurement movements ...
288:
Running wrist axes in position ...
289:
Switch back to manual mode reduced speed
290:
Press OK to continue !
291:
Other
292:
-90
293:
+90
294:
0 = Display available PayLoad once again
295:
WARNING: LOW ACCURACY !
296:
anyhow
297:
1= External Manipulator IRBP L
298:
2= External Manipulator IRBP K
301:
3= External Manipulator IRBP R
302:
4= External Manipulator IRBP A
303:
5= External Manipulator IRBP B or IRBP D
304:
Select Ext. Manipulator (0= Cancel) ?
305:
-1 = Cancel
306:
* The PayLoad to identify must be
307:
  mounted and defined with name.
308:
MechUnit named
309:
Display available MechUnit once again ?
310:
0 = Display MechUnits once again
311:
0 = Display more MechUnit
312:
MechUnit with all axes (-1 = Cancel) ?
313:
Select axis with the load to identify.
314:
Select PayLoad(-1 = Cancel) ?
315:
(Select axis 2 or 3 within
316:
Select axis number ?
317:
The axis on the opposite side
318:
must be empty!
319:
Specify mass for the load.
320:
Specify mass in kg?
321:
Specify z-coordinate for the load.
322:
Specify z in mm?
323:
actual axis position and the coming
324:
JOGG the interchange axis
325:
6= External Robot
326:
* Suitable axes positions.
327:
axes to precise position.
328:
Running axes in position ...
329:
* Load identification with the Mech.
330:
  unit including all manipulator axes.
331:
* MAN. LOAD IDENT.- PRECONDITIONS:
332:
JOGG the swich axis to the end pos.!
333:
the mechanical unit.)
