Toshiba TS3100 - Page 165

STE 80722
– 160 –
COMMUNICATION MANUAL
series Robot Controller
[3] Load data
PAYLOAD <Load name>=<mass>, <center of gravity offset>
<Load name>: Name of load data
<mass>: Mass of the load on the end of the robot hand
(unit: kg)
<center of gravity offset>: Offset of the center of gravity of the load on the
end of the robot hand from the center of the tool
axis (unit: mm)
When the values of the mass and center-of-gravity offset are omitted, they are
treated as 0.
[4] Designation of work coordinate system
The positional data represent the position in the work coordinate system. The
positional data are designated by the work coordinate system.
When the work coordinate system is designated, the positional data described
in the next line are treated as the position in the work coordinate system.
When the work coordinate system is not designated, it is assumed that the work
coordinate system accords with the world coordinate system.
The work coordinate system is described in the following format.
WORK <Coordinate name>
<Coordinate name>: Name of coordinate data used as work coordinate
system