Overview

Task

The load model limits axis accelerations as a function of the robot's moment of inertia and the load attached to the robot flange. This prevents exceeding dynamic limits in dynamic robot applications such as pick & place.

Release Note

This function is available as of CNC Build V3.1.3108.5.

Notice

This function is an additional option requiring a license.

Possible applications

The load model functionality is currently available for robots with five and six axes. Use of this functionality is recommended for dynamic robot applications where the robot moves loads.

Parameterisation

A kinematic ID 45 or ID 213 must be parameterised to use the load model successfully. The load parameters are described in the Parametrisation section or can be executed by NC programming.

Programming

The NC command #LIMIT LOAD is provided to program the load.