Programming (#LIMIT LOAD)
In the NC program a load can be redefined and activated by the NC commands described below. The loads preconfigured in the channel parameter list are then overwritten and remain stored and valid throughout the main program. After the controller is reset or rebooted, the configured load data in the channel parameter list is again available.
Syntax of Define/store loads |
| |
#LIMIT LOAD DEF [IDX=.. X=.. Y=.. Z=.. RX=.. RY=.. RZ=.. IX=.. IY=.. IZ=.. MASS=.. { \ } ] |
| |
DEF | Identifier for load pre-assignment. If DEF is specified, IDX is required. If the index is missing, error ID 22209 is output. | |
IDX=.. | Load index. A maximum of 10 definitions can be stored at the same time. Value range: 0 - 9 | |
X=.. | X offset of the load mass centre of gravity in relation to the flange coordinate system in [mm, inch] (analogous to P-CHAN-00764). | |
Y=.. | Y offset of the load mass centre of gravity in relation to the flange coordinate system in [mm, inch] (analogous to P-CHAN-00765). | |
Z=.. | Z offset of the load mass centre of gravity in relation to the flange coordinate system in [mm, inch] (analogous to P-CHAN-00766). | |
RX=.. | Rotation angle to rotate the load coordinate system about X in relation to the flange coordinate system in [°] (analogous to P-CHAN-00767). | |
RY=.. | Rotation angle to rotate the load coordinate system about Y in relation to the flange coordinate system in [°] (analogous to P-CHAN-00768). | |
RZ=.. | Rotation angle to rotate the load coordinate system about Z in relation to the flange coordinate system in [°] (analogous to P-CHAN-00769). | |
IX=.. | Main moment of inertia of the load in X in relation to the load coordinate system at the load centre of gravity in [kg*m2] (analogous to P-CHAN-00770). | |
IY=.. | Main moment of inertia of the load in Y in relation to the load coordinate system at the load centre of gravity in [kg*m2]. (analogous to P-CHAN-00771) | |
IZ=.. | Main moment of inertia of the load in Z in relation to the load coordinate system at the load centre of gravity in [kg*m2] (analogous to Channel parameters). | |
MASS=.. | Mass of the load in [kg] (analogous to Channel parameters). | |
\ | Separator (backslash) for clear programming of the command over multiple lines | |
Syntax of Select a stored load: |
| |
#LIMIT LOAD [IDX=.. ] |
| |
IDX=.. | Select a stored load under index 0 - 9 | |
Syntax of Define/store and select a load: |
| |
#LIMIT LOAD [IDX=.. <load_parameter> ] |
| |
IDX=.. | Define a load under index 0 – 9 with <load_parameter> (X=.. Y=.. …) and select. | |
Syntax of Select a load with load parameters without storing: |
|
#LIMIT LOAD [ <load_parameter> ] |
|
Syntax of Deselect the active load: |
#LIMIT LOAD OFF |
Programing Example
Define load and select/deselect
Pre-assign/define a load at index 8:
#LIMIT LOAD DEF [IDX=8 X=250 Y=0 Z=0 RX=0 RY=0 RZ=0 IX=0.014604 IY=0.014604 IZ=0.025916 MASS=7.9]
Activate a load at index 8:
#LIMIT LOAD [IDX=8]
Deselect the active load (at index 8):
#LIMIT LOAD OFF
If programmed without index and without DEF, the load is activated with the programmed command parameters but not stored.
#LIMIT LOAD [X=250 Y=0 Z=0 RX=0 RY=0 RZ=0 IX=0.014604 IY=0.014604 IZ=0.025916 MASS=12.1]
Programing Example
Robot with load
Initial situation for the example is the complete Basic configuration.
The figure below shows the flange of a robot with a gripper holding a workpiece. The flange coordinate system is designated {Fl} and the load coordinate system is designated {L}. The load coordinate system lies at the centre of gravity of the gripper and the load.
The load coordinate system is offset by 200 mm from the flange coordinate system on the Z axis and rotated by 180°. The gripper and the load weigh a total of 360 kg. The load is parameterised, activated and stored under index 0 using the following NC command, for example:
#LIMIT LOAD [IDX=0 X=0 Y=0 Z=200 RX=0 RY=0 RZ=180 IX=19.25 IY=73.125 IZ=90 MASS=360]