2.6 Robot in cold environments2.6.1 Start of robot in cold environmentsIntroductionThis section describes how to start the robot in a cold environment if it is not startingthe normal way.Problems with starting the robotEvent message from Motion SupervisionUse this procedure if an event message indicates a problem with Motion supervisionat start-up. More information about Motion Supervision is found in Technicalreference manual - System parameters.NoteActionTurn off Motion Supervision.1Start the robot.2When the robot has reached normal working temper-ature, the Motion Supervision can be turned onagain.3Robot stopping with other event messageUse this procedure if the robot is not starting.NoteActionThe speed can be regulated with theRAPID instruction VelSet.Start the robot with its normal program butwith reduced speed.1Adjusting the speed and acceleration during warm-upDepending on how cold the environment is and what program is being used, thespeed might need to be ramped up until reached maximum. The table showsexamples of how to adjust the speed:Speed/velocityAccSetWork cyclesv100 (100 mm/s)20, 203 Work cyclesv400 (400 mm/s)40, 405 Work cyclesv600 (600 mm/s)60, 605 Work cyclesv1000 (1000 mm/s)100, 1005 Work cyclesMax.100, 100More than 5 Work cyclesIf the program consists of large wrist movements, it is possible that the reorientationvelocity, which is always high in predefined velocities, needs to be included in theramping up.Product manual - IRB 460 933HAC039842-001 Revision: P© Copyright 2012-2018 ABB. All rights reserved.2 Installation and commissioning2.6.1 Start of robot in cold environments
