Identification of load data for positioners IRBP
Load Identification for IRBP R
44 3HEA 802352-001 Rev. A
6.3 Load Identification for IRBP R
A simplified view of the IRBP R positioner is shown in Figure 7. The parameters
that are identified are: centre of gravity in a plane perpendicular to the axis, and three
moments of inertia at the centre of gravity. Note that both the mass of the load and
the distance z to the centre of gravity must be known in advance.
These data are entered when performing the load identification.
One part of the identification movements for one axis are the same as for the IRBP
L positioner. To find the extra moments of inertia we also move the interchange axis
with the load to two different positions.
The movements for the interchange axis are the movements described in Figure 7.
but only at one configuration point. It is important to remember that the identifica-
tion on one axis will be correct only if there is no load mounted on the other axis.
Figure 7. Simplified view of positioner IRBP R.
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