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 option.

No part of this manual may be reproduced in any form. 1

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

1 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 d oesn't support that function.

2 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.

3 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

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.

No part of this manual may be reproduced in any form. 2

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

group, press F2 "GROUP". (Only in the multi-group system)

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

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 *****
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.

No part of this manual may be reproduced in any form. 3

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

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.
NOTE Estimation with specifing mass is more accurate than without specifing. Please
specify mass as much as possible.
Even if mass is n ot 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 c enter 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 J 6 axis

The interval between the positions set at POS1 screen andPOS2 screen is about 180 concerning
J6 axis .

No part of this manual may be reproduced in any form. 4

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

9. Press NEXT key and then press F4 "DETAIL " to display POS1 screen.
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
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
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 setand 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.

No part of this manual may be reproduced in any form. 5

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

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".
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 value s on the payload schedule number. At this time,
the message "Path and Cycletime will change. Set it?" is displayed.
18.
Please select the estimated value s 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.

4 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-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

No part of this manual may be reproduced in any form. 6

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

group, press F2 "GROUP". (Only in the multi-group system)

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

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 *****
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.

No part of this manual may be reproduced in any form. 7

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

8. Press NEXT key and then press F4 "DETAIL " to display POS1 screen.
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
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 POS 1, 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

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.

No part of this manual may be reproduced in any form. 8

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

13.
Press PREV to return to PAYLOAD ID screen.
14.
Move the cursor to "CALIB RATION 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
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.)

5 OTHERS OF RELATED MATTERS

5-1 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.

5-2 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.

5-3 CALIBRATION DATA

CALIBRATION data is in the following system variable.
$PLCL_GRP[group].$TRQ_MGN[axis]
group : group number

No part of this manual may be reproduced in any form. 9

All specifications and designs are subject to change without notice.
 Payload Identification Function Operator's Manual (B-80944EN/01-3)

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.

No part of this manual may be reproduced in any form. 10

All specifications and designs are subject to change without notice.