User's guide BaseWare option Load identification&collision detection

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1、User’sguideBaseWareoptionLoadidentification&collisiondetectionRobotWare-OS4.0User’sguide3HAC7832-1ABaseWareoptionLoadidentification&collisiondetectionRobotWare-OS4.0Loadidentification&collisiondetectionTheinformationinthismanualissubjecttochangewithoutnoticeands

2、houldnotbeconstruedasacommitmentbyABB.ABBassumesnoresponsibilityforanyerrorsthatmayappearinthismanual.Exceptasmaybeexpresslystatedanywhereinthismanual,nothinghereinshallbeconstruedasanykindofguar-anteeorwarrantybyABBforlosses,damagestopersonsorproperty,fitnessfo

3、raspecificpurposeorthelike.ThismanualandpartsthereofmustnotbereproducedorcopiedwithoutABB'swrittenpermission,andcontentsthereofmustnotbeimpartedtoathirdpartynorbeusedforanyunauthorizedpurpose.Contraventionwillbepros-ecuted.Additionalcopiesofthismanualmaybeobtain

4、edfromABBatitsthencurrentcharge.©2003ABBAllrightsreserved.ABBAutomationTechnologyProductsABRoboticsSE-72168VästeråsSwedenLoadidentification&collisiondetectionContents1Introduction...................................................................................

5、............................................12Identificationoftoolorpayload...............................................................................................32.1IdentificationofToolload................................................................

6、................................42.2IdentificationofPayLoad.................................................................................................52.3Errorhandling.........................................................................................

7、..........................72.4Hints..................................................................................................................................72.5Limitations..................................................................................

8、......................................82.6Relatedinformation..........................................................................................................