Nachi EZ-CFDL Series - Page 30

3.5 Tool constant settings
10
First, record the program in which
two positions are included.
The same precautions described above apply to
the robot positions and
postures. The interpolation type, speed, accuracy, tool numbers, etc.
may be
disregarded at this point. Only the positions are
referenced.
11
Press the f8 <Refer> key without recording poses 1 (or 2) in
5
to
8
.
>>A dialog box shown below
is displayed. Input the program number prepared i
n
above step, and press [Enter] key.
12
First two move steps are loaded from the program, and the angle data of each
axis is displayed.
>>Even when functions were recorded in the
program, they’re ignored. Only the move
command will be picked up.
13
The procedure is now the same as in
9
.
(2)
Executing the center of gravity (COG) and weight of
tool settings
14
Finally, measure the center of gravity (COG) and weight of the tool.
“The program for measuring the center of
gravity (COG) and weight of tool”
which was created before must now be executed.
(Execute the measurement in the playback
mode)
Switch to the playback mode and select the
single cycle mode with 100% speed
override.
(Execute the measurement in the teach mode)
It is possible to execute this
measurement function in the teach mode also.
Enable
the
“Continue”
mode
using
the
[Stop/Continue]
key
.
15
Select [Automatic COG setting] from <Service Utilities> as before, and then
select [Tool COG Measurement].