Identification of load data for positioners IRBP
Parameters and movements
42 3HEA 802352-001 Rev. A
6.1.1 Parameters and movements
Parameters The parameters that are identified are: centre of gravity in a plane perpendicular to
the axis, and moments of inertia around the axis, see Figure 4.
Together with the identified parameters, a measurement accuracy is also given, indi-
cating how successful the identification was.
To perform the identification the positioner moves the load and computes the
parameters.
Movements The movements for the axis are performed around two configuration points as
described in Figure 5. At each configuration, the maximum motion for the axis is
approximately 30 degrees up and 30 degrees down. The optimum value for the Con-
figuration angle is 90 degrees.
Note that the mass of the load must be known in advance. The mass data is entered when
performing the load identification.
Figure 4. The parameters that can be identified on an IRBP L positioner.
Figure 5. Motion interval for the axis.
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