3.5 Tool constant settings
Align the cursor with the Pose 1 field, and press the [Enter] key and [O.WRITE/
>>The first posture (Pose 1) is now registered. The angle data loaded for the axes is
displayed as shown below.
Next, make a major change to the posture. At this time, change the wrist posture
Move the J5 up/down and record the position with
unbalance torque is being added to the J
Align the cursor with the Pose 2 field, and press [Enter] key and [REC] key.
>>The first posture (Pose 2) is now registered. The angle data loaded for the axes is
displayed as shown below.
This completes the registration of two of
the points required. Press the f12
>>Based on the two postures registered in
this way, the program shown below
consisting of a multiple number of
steps for initiating the automatic center of
(COG) and weight of tool settings is
now generated automatically. The program No.
which is automatically generated at this time is
the one which was specified in
>>Upon completion of the automatic generation of
the program, the following pop-up
message is displayed. Press any key.
The poses (robot positions) were recorded directly by following the instructions set forth above, but an
alternative to this is to teach a program in which these positions have been recorded ahead of time, and
Since a program can be used over and over again once it has been taught, this method is preferable in
cases such as a tool change application where the work involved in setting the
center of gravity and weight
To Next Page
Loading...