Payload Identification Function Operator's Manual (B-80944EN/01-3)

FANUC Robot Series R-J3 Controller

Payload Identification Function

Operator's Manual

This function is an optional.

1
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

OUTLINE

This function is a function to estimate the load of the end-of-arm part of the robot.
This function can move the robot and estimate above-mentioned information automatically.

In order to use this function, Payload Identification function option (A05B-****-J669) 1 is needed.
Moreover, Payload Identification function needs to be supported about the robot model that wants to
be used. Payload Identification function cannot be used with the robot which doesn't support that
function.

OPERATION PROCEDURE

Payload Identification is done as the following procedure.

1. Setting the motion range about the motion for Estimation
2. Execution of Estimation

In addition, when the mechanism parts such as motors are exchanged, the operation of Calibration is
needed.
The accuracy of Estimation worsens if Calibration is not done though those parts were exchanged.

PAYLOAD IDENTIFICATION PROCEDURE (for six axes robot)

Payload Identification is done by operating on PAYLOAD ID screen.

You can enter into PAYLOAD ID screen from the Motion screen.
1. Press the MENUS key to bring up the screen menu.
2. Select 6 SYSTEM on the next page.
3. Press F1[TYPE] to display the pull-up menu.
4. Select Motion to display Payload List screen. (When screens other than Payload List screen
are displayed, several pushing PREV key display that screen.) To enter the screen for other group, press
F2 "GROUP". (Only in the multi-group system)

1 The **** part is a four digits number that is different according to the series of the software. For instance, the order
specification becomes A05B-2400-J669 for 7D70 series.

2
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

MOTION PERFORMANCE JOINT 10 %

Group1
No. PAYLOAD[kg] Comment
1 0.00 [ ]
2 0.00 [ ]
3 0.00 [ ]
4 0.00 [ ]
5 0.00 [ ]
6 0.00 [ ]
7 0.00 [ ]
8 0.00 [ ]
9 0.00 [ ]
10 0.00 [ ]
Active PAYLOAD number = 0
[ TYPE ] GROUP DETAIL ARMLOAD SETIND >
5. Press NEXT key and then press F2 "IDENT" to display PAYLOAD ID screen.
MOTION/PAYLOAD ID JOINT 10 %
Group1
Schedule No[ ]:[ ]
1 PAYLOAD ESTIMATION *****
Previous Estimated value (Maximum)
Payload [Kg] : 0.00 ( 165.00)
Axis Moment [Nm]
J4: 0.00E+00 ( 9.02E+02)
J5: 0.00E+00 ( 9.02E+02)
J6: 0.00E+00 ( 4.41E+02)
Axis Inertia [Kg cm^2]
J4: 0.00E+00 ( 8.82E+05)
J5: 0.00E+00 ( 8.82E+05)
J6: 0.00E+00 ( 4.41E+05)

2 MASS IS KNOWN [NO ] 165.000[Kg]

3 CALIBRATION MODE [OFF]
4 CALIBRATION STATUS *****

[ TYPE ] GROUP NUMBER EXEC APPLY >

6. Jog the robot to the position in which Estimation's action is done.
NOTE Only the J5 axis and the J6 axis move while Estimation. Other axes are kept the position of
beginning of Estimation, and do not move.
The range of the movement while Estimation is between the two points being set on POS1 screen
and POS2 screens. (Refer to 10. and 12.)
NOTE Please make the robot be in the position where the rotation axis of J5 axis becomes the
horizontal.
Nearer vertical the rotation axis of the J5 axis becomes, worse Estimation becomes.
7. Press F3 "NUMBER" and then select the Payload schedule number on which the result of Estimation
wants to be set.
8. If the mass of the estimated load is known, move the cursor to the line 2, make it to "YES" and specify
(input) the value of the mass.

3
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

NOTE Estimation with specifing mass is more accurate than without specifing. Please specify mass as
much as possible.
Even if mass is not specified, Estimation, the accuracy isn't as well as with specifing mass, can
work if the following conditions are filled.
The moment around J5 axis and that around J6 axis are large enough.
the rotation axis of the J5 axis

B the rotation axis

of the J6 axis
A

the load's center

of gravity

The mass is large enough, and, the distances of both A and B are large enough.
The center of gravity of the load is away enough from the rotation axis of the J5 axis
and the rotation axis of the J6 axis.
The center of gravity of the load is near or on the plane that contains the rotation axis
of the J5 axis and the rotation axis of the J6 axis concerning the positions set at POS1
screen and POS2 screen.
the rotation axis
of the J5 axis

the load's center

of gravity

the rotation axis

of the J6 axis

The interval between the positions set at POS1 screen and POS2 screen is about 180
concerning J6 axis.
9. Press NEXT key and then press F4 "DETAIL" to display POS1 screen.

4
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

MOTION/ID POS1 JOINT 10 %

Group1
1 POSITION for ESTIMATION POSITION1
J1 <**********>
J2 <**********>
J3 <**********>
J4 <**********>
2 J5 < -90.000>
3 J6 < -90.000>
J7 <**********>
J8 <**********>
J9 <**********>
4 SPEED Low < 1%> High <100%>
5 ACCEL Low <100%> High <100%>

[ TYPE ] POS.2 DEFAULT MOVE_TO RECORD

10.Set the position of POS1. (The default value is also O.K.)

Input numerical values directly on the positions of J5 axis and J6 axis. Or, move J5 axis and J6 axis to
the position where you want to set and record the position of them with pressing SHIFT+F5 "RECORD".
Here, if SHIFT+F4 "MOVE_TO" is pressed, the robot moves to the position of POS1. Please use
SHIFT+F4 "MOVE_TO" to confirm the set position.
11.Press F2 "POS.2" to display POS2 screen.
MOTION/ID POS2 JOINT 10 %
Group1
1 POSITION for ESTIMATION POSITION2
J1 <**********>
J2 <**********>
J3 <**********>
J4 <**********>
2 J5 < 90.000>
3 J6 < 90.000>
J7 <**********>
J8 <**********>
J9 <**********>
4 SPEED Low < 1%> High <100%>
5 ACCEL Low <100%> High <100%>

[ TYPE ] POS.1 DEFAULT MOVE_TO RECORD

12.Set the position of POS2. (The default value is also O.K.)

Input numerical values directly on the positions of J5 axis and J6 axis. Or, move J5 axis and J6 axis to
the position where you want to set and record the position of them with pressing SHIFT+F5 "RECORD".
Here, if SHIFT+F4 "MOVE_TO" is pressed, the robot moves to the position of POS2. Please use
SHIFT+F4 "MOVE_TO" to confirm the set position.
13.Press PREV to return to PAYLOAD ID screen.
14.Disable the teach pendant, and press F4 "EXEC". Then, the message "Robot moves and estimates.
Ready?" is displayed.
15.Please select Estimation whether to be executed. (When "YES" is selected, the robot moves. Please pay
attention so that there is no danger.)
To move the robot and execute Estimation, press F4 "YES".

5
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

To cancel executing Estimation, press F5 "NO".

16.When the motion at low speed and that at high speed end, the parameters about the load are estimated.
(The motion at high speed automatically starts after that at low speed is finished. So as not to become a
dangerous situation when the motion at high speed starts, please do not do approaching the robot or the
like even though it is low-speed.)
17.Press F5 "APPLY" to set the estimated values on the payload schedule number. At this time, the
message "Path and Cycletime will change. Set it?" is displayed.
18.Please select the estimated values whether to be set.
To set them, press F4 "YES".
To cancel setting them, press F5 "NO".
19.When the values which tried to be set exceed the permissible load (displayed in the parentheses), the
message Load is OVER spec ! Accept? is displayed. Please select whether to set them as well as the
above-mentioned.

CALIBRATION PROCEDURE (for six axes robot)

When the mechanical parts such as motors are exchanged, CALIBRATION is needed.
The accuracy of Estimation worsens if CALIBRATION is not done though those parts were exchanged.
CALIBRATION is done by operating PAYLOAD ID screen. CALIBRATION is done by executing
Estimation with the switch for CALIBRATION turned on.
1. Make sure the end-
end-of-
of-arm tooling is not attached to the robot arm.
When CALIBRATION is done, no end-of-arm tooling must be attached to the robot arm.
NOTE If CALIBRATION is done with some end-of-arm tooling attached to the robot arm, improper
CALIBRATION data is set and a good Estimation is not possible thereafter.
In that case, please do CALIBRATION appropriately again.
2. Press the MENUS key to bring up the screen menu.
3. Select 6 SYSTEM on the next page.
4. Press F1[TYPE] to display the pull-up menu.
5. Select Motion to display Payload List screen. (When screens other than Payload List screen
are displayed, several pushing PREV key display that screen.) To enter the screen for other group, press
F2 "GROUP". (Only in the multi-group system)

6
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

MOTION PERFORMANCE JOINT 10 %

Group1
No. PAYLOAD[kg] Comment
1 0.00 [ ]
2 0.00 [ ]
3 0.00 [ ]
4 0.00 [ ]
5 0.00 [ ]
6 0.00 [ ]
7 0.00 [ ]
8 0.00 [ ]
9 0.00 [ ]
10 0.00 [ ]
Active PAYLOAD number = 0
[ TYPE ] GROUP DETAIL ARMLOAD SETIND >
6. Press NEXT key and then press F2 "IDENT" to display PAYLOAD ID screen.
MOTION/PAYLOAD ID JOINT 10 %
Group1
Schedule No[ ]:[ ]
1 PAYLOAD ESTIMATION *****
Previous Estimated value (Maximum)
Payload [Kg] : 0.00 ( 165.00)
Axis Moment [Nm]
J4: 0.00E+00 ( 9.02E+02)
J5: 0.00E+00 ( 9.02E+02)
J6: 0.00E+00 ( 4.41E+02)
Axis Inertia [Kg cm^2]
J4: 0.00E+00 ( 8.82E+05)
J5: 0.00E+00 ( 8.82E+05)
J6: 0.00E+00 ( 4.41E+05)

2 MASS IS KNOWN [NO ] 165.000[Kg]

3 CALIBRATION MODE [OFF]
4 CALIBRATION STATUS *****

[ TYPE ] GROUP NUMBER EXEC APPLY >

7. Jog the robot to the position in which Estimation's action is done.
NOTE Only the J5 axis and the J6 axis move while Estimation. Other axes are kept the position of
beginning of Estimation, and do not move.
The range of the movement while Estimation is between the two points being set on POS1 screen
and POS2 screens. (Refer to 9., 10. and 12.)
NOTE Please make the robot be in the position where the rotation axis of J5 axis becomes the
horizontal.
Nearer vertical the rotation axis of the J5 axis becomes, worse Estimation becomes.
8. Press NEXT key and then press F4 "DETAIL" to display POS1 screen.

7
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

MOTION/ID POS1 JOINT 10 %

Group1
1 POSITION for ESTIMATION POSITION1
J1 <**********>
J2 <**********>
J3 <**********>
J4 <**********>
2 J5 < -90.000>
3 J6 < -90.000>
J7 <**********>
J8 <**********>
J9 <**********>
4 SPEED Low < 1%> High <100%>
5 ACCEL Low <100%> High <100%>

[ TYPE ] POS.2 DEFAULT MOVE_TO RECORD

9. Set the positions of POS1 and POS2. Please set the default values for those as much as possible.
Press F3 "DEFAULT" in order to set the default values on POS1, POS2, SPEED and ACCEL.
10.If SHIFT+F4 "MOVE_TO" is pressed, the robot moves to the position of POS1. Please confirm safety
about moving to POS1. If the robot cannot safely move to POS1, please jog the J1-J4 axes and move
those to the pose with which the robot can safely move to POS1.
11.Press F2 "POS.2" to display POS2 screen.
MOTION/ID POS2 JOINT 10 %
Group1
1 POSITION for ESTIMATION POSITION2
J1 <**********>
J2 <**********>
J3 <**********>
J4 <**********>
2 J5 < 90.000>
3 J6 < 90.000>
J7 <**********>
J8 <**********>
J9 <**********>
4 SPEED Low < 1%> High <100%>
5 ACCEL Low <100%> High <100%>

[ TYPE ] POS.1 DEFAULT MOVE_TO RECORD

12.If SHIFT+F4 "MOVE_TO" is pressed, the robot moves to the position of POS2. Please confirm safety
about moving to POS2. If the robot cannot safely move to POS2, please jog the J1-J4 axes and move
those to the pose with which the robot can safely move to POS2.
If the J1-J4 axes are moved here, press F2 "POS.1" to display POS1 screen, and confirm safety again
from 10.
13.Press PREV to return to PAYLOAD ID screen.
14.Move the cursor to "CALIBRATION MODE" of the line 3, and turn it to "ON".
NOTE When CALIBRATION ends, "CALIBRATION MODE" is automatically turned into "OFF".
Please do not change "CALIBRATION MODE" while CALIBRATION or Estimation. If
"CALIBRATION MODE" is changed while CALIBRATION or Estimation, abnormal

8
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

CALIBRATION may be done or CALIBRATION may be not done.

15.Move the cursor to the line 4 etc. (make EXEC displayed on F4), disable the teach pendant, and press
F4 "EXEC". Then, the message "Robot moves and estimates. Ready?" is displayed.
16.Please select Estimation whether to be executed. (When "YES" is selected, the robot moves. Please pay
attention so that there is no danger.)
To move the robot and execute Estimation, press F4 "YES".
To cancel executing Estimation, press F5 "NO".
17.When the motion at low speed and that at high speed end, CALIBRATION is finished. (The motion at
high speed automatically starts after that at low speed is finished. So as not to become a dangerous
situation when the motion at high speed starts, please do not do approaching the robot or the like even
though it is low-speed.)

OTHERS OF RELATED MATTERS

-MOTION RANGE
If the range between POS1 and POS2 narrows, the accuracy of Estimation might worsen.
Please set that range as the default value level if possible.

-ACCELERATION OF THE MOTION FOR ESTIMATION

The accuracy of Estimation worsens if the moment, inertia or etc. of the load is comparatively smaller
than the permissible value for the robot. The reason is that the influence, which appears to the torque
of the motor of the robot, becomes small.
The accuracy of Estimation for such a light load may improve if the acceleration of the motion for
Estimation is raised.
Please try raising the acceleration by enlarging the item of "ACCEL - High" at POS1 screen or at
POS2 screen to the extent that the vibration while the motion doesn't grow.

-CALIBRATION DATA
CALIBRATION data is in the following system variable.
$PLCL_
$PLCL_GRP[group].$TRQ_
GRP[group].$TRQ_MGN[axis]
group : group number
axis : axis number
If an improper CALIBRATION data has been set, for example that CALIBRATION has been done by
mistake with some end-of-arm tooling attached to the robot arm and so on, CALIBRATION data will
be able to be restored by restoring the above system variable to its former value.
In order to be able to restore CALIBRATION data, it is recommended to take a note of CALIBRATION
data.

9
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.