Load Identification For Irbp A, B And D - ABB M2004 System Settings

6.4 Load Identification for IRBP A, B and D

A simplified view of positioner IRBP A/ B/ D is shown in
tification is performed, the positioner must be positioned so that the z-axis is hori-
zontal.
This is checked by the load identification procedure. If axis 1 is too far from this
position the load identification procedure will suggest which angle it should be
moved to.
The parameters that are identified are: centre of gravity and three moments of inertia
at the centre of gravity, see
The mass of the load must be known in advance and it is entered when performing the load
indentification.
The motion for each axis is, in principal, the same as for the IRBP L positioner, see
Figure 5.
point.
3HEA 801233-001 Rev.- 2005-08
Figure 8. Simplified view of positioner IRBP A.
However, axis 1 only performs its movements around one configuration
Identification of load data for positioners IRBP
Load Identification for IRBP A, B and D
Figure 8.
Figure 8. When the iden-
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