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Missing LoadIdentify in service routine for IRB 6640

pacijent
pacijent ✭✭
in Robot Controller
Hello to all, I'm trying to run LoadIdentify service routine in IRB 6640 but I got message that load identification is not available for this robot type. How can we do gripload and toolload callculation for this robot (besides punching manually data through flex pendant) . Thanks.

P.S. LoadData explanation in robotware manual is pretty confusing, what should we do with values of q1-q4 of gripload if configuration is changing during operation. In attachment is our case.

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