ABB IRB 2600 - Robot in Cold Environments; Start of Robot in Cold Environments

2.7 Robot in cold environments
2.7.1 Start of robot in cold environments
Introduction
This procedure describes how to start the robot in a cold environment.
Starting in cold environment
Use this procedure to start the robot in a cold environment if it is not starting the
normal way:
NoteAction
Turn off motion supervision.1
Start the robot.2
When the robot has reached normal working
temperature, the motion supervision can be
turned on again.
3
If still not starting...
If the robot is still not starting after turning off motion supervision, use this
procedure:
NoteAction
The speed can be regulated with the
RAPID instruction AccSet.
Start the robot with its normal program but
with reduced speed.
1
Adjusting the speed
Depending on how cold the environment is and the program being used, the
ramping up of speed has to be adjusted. The table shows examples of how to
adjust the speed:
Speed/velocityAccSetWork cycles
10020.203 Work cycles
40040.405 Work cycles
60060.605 Work cycles
1000100.1005 Work cycles
Max.100.100More than 5 Work cycles
If the program consists of large wrist movements, it is possible that the reorientation
velocity, which is always high in predefined velocities, needs to be included in the
ramping up.
Product manual - IRB 2600 107
3HAC035504-001 Revision: G
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2 Installation and commissioning
2.7.1 Start of robot in cold environments