Identification of load data for positioners IRBP
Load Identification for IRBP A, B and D
3HEA 802352-001 Rev. A 45
6.4 Load Identification for IRBP A, B and D
A simplified view of positioner IRBP A/ B/ D is shown in Figure 8. When the iden-
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 Figure 8.
The motion for each axis is, in principal, the same as for the IRBP L positioner, see
Figure 5. However, axis 1 only performs its movements around one configuration
point.
Figure 8. Simplified view of positioner IRBP A.
The mass of the load must be known in advance and it is entered when performing the load
indentification.
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