Description

The load model limits the parameters P-AXIS-00001 and P-AXIS-00002 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.

The load model functionality is restricted to robots and is used in combination with kinematic type 45 or 213. The robot kinematic can then be part of a couple kinematic (see FCT-C35). The settings of the Acceleration weighting (G130/G131/G230/G231/G333/G334) are also included.

The process forces of the robot are required in order to use the load model successfully. The process forces are the maximum permissible axis motor torques. The torques are specified in the process forces in the robot product description. The main moments of inertia and the load mass are also required. The main moments of inertia must be determined in relation to the coordinate system of the load centre of gravity.

Prerequisites and restrictions

The following is required to use the load model successfully:

• A fully parameterised robot kinematic (type 45/type 213) for a robot.
• The Channel parameters parameter must be activated for this robot kinematic. If this is not the case, error ID 22210 is output.
• The robot kinematic must be placed at the first index (limit.kin[0].*)
• The maximum axis torques of all robot axes must be specified.
• The attached robot load may not exceed the maximum load of the robot as specified in the data sheet
• It is not possible to stack or concatenate load models. Therefore, in each case, only one load model can be activated by #LIMIT LOAD in the NC programming.

Please observe the following restrictions:

• The load model can only be used for a parameterised robot kinematic in the channel.
• If the robot is fitted to a linear unit, the acceleration parameters of the linear unit are not considered.
• The number of different loads is limited to 10.