PAYLOADCHECK


PAYLOAD CONFIRM

Payload confirm consists of two functions:

  • Payload Setting Confirm

  • Payload Over Confirm

Payload setting confirm evaluates payload setting accuracy with little robot motion. When this function is used, the robot has to be in the position where where J5 and J6 have maximum moment loading. Only axes J5 and J6 have to be at the maximum moment position for the current payload. The other axes have no limitation. When using Payload Confirm, J5 and J6 axes move between the current position +1[degree] and the current position –1[degree] when F4, PLSET and F3, YES are selected. The payload setting error will be shown after the robot is robot moved. The payload setting error of payload [1]-[10] is stored.

Steps

  1. Abort all programs that are running or paused.

  2. Move the robot to the position where the J5 and J6 axes are loaded almost maximum moment with current payload. Confirm that the robot does not interfere if J5 and J6 axes move between the current position+1[degree] and current position–1[degree].

  3. Turn off the teach pendant enable switch.

  4. Display the Payload Confirm screen.

  5. Press F4, PLSET.

  6. Press F3, YES. Wait until the right column of the line below Payload Setting Err. changes from DOING to DONE. This takes about 30 seconds.

  7. If “Payload Setting Err.” is large, the payload setting might be incorrect. Threshold is 10% when payload identification is ordered and 20% when payload identification is not ordered. (The torque margin is not calibrated and the error becomes larger if payload identification is not ordered).

Note

You cannot execute payload setting confirm when another program is running or paused.

Payload over confirm disables the overload warning when the motor is able to move in an actual program with the payload that is over specification. The program to be evaluated must be executed beforehand. When F5, OVLD is selected, this function evaluates the last executed program. The maximum torque of the last executed program and rated torque is compared.

Note

The overload warning is disabled when the maximum torque of the checked program is lower than the rated torque.

Note

The overload warning is not shown even if the maximum torque of the other program is higher than the rated torque.

Conditions

  • Payload Setting Status is set to OVER LOAD.

  • The program to be payload over confirmed has been executed.

  • Select the program to be payload over confirmed (press SELECT, select the program, and press ENTER.).

Steps

  1. Set the override to 10% or lower, and execute the program.

  2. Display payload over and payload setting confirm screen:

  3. Select PayLoad Check.

  4. Press F5, OVLD.

  5. Modify the program.

  6. When Trq Chk becomes OK:power off/on to erase warn!

Note

The Overload warning is disabled when the maximum torque of the checked program is lower than rated torque.

Note

The overload warning is not shown even if maximum torque of the other programs are higher than rated torque. You must confirm that the maximum torque is lower than rated torque in all programs you use.

To enable the overload warning again, change the setting of MOTN-171 in the setup/error table screen from “NODISP” to “DEFAULT.”