8 System Setup
DX100 8.4 ARM Control
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8.4 ARM Control
8.4.1 ARM Control
ARM Control, a control system originally developed by Yaskawa, achieves
an enhanced robot motion performance such as improved path accuracy
or educed cycle time.
The moment of inertia and the gravity moment etc. of each axis are
calculated by the ARM control function, and DX100 controls robot motion
according to the result. It is necessary to set the Robot setup condition
and the tool load information to request these accurately.
The robot setup condition is robot installation angle relative to ground and
the weight and a center of gravity position of the load installed at each part
of robot, etc.
The tool load information is weight, a center of gravity position, and
moment of inertia at the center of gravity, of the tool installed at the flange.
It is necessary to set these information correctly to do a better operation
control by the ARM control.
8.4.2 ARM CONTROL Window
8.4.2.1 Robot Setup Condition
Fulfill the following robot setup condition to enable the ARM control.
• Robot installation angle
• S-head payload
• U-arm payload
CAUTION
• Correctly set the robot setup condition.
Make sure to avoid any mistake in setting the unit indication or
specifying positive and negative values. Failure to observe this caution
may lead to improper control of the manipulator, resulting in error
occurrence or short life span of speed reducer.
• Confirm the operation path of robot of each job when modifying
settings.
Set the robot setup condition when setting up the manipulator.
Confirm the operation path of manipulator of each job afterwards when
the setting should be modified after the installation.
Modifying the settings of the ARM control may slightly change the
operation path. To avoid injury or damage to machinery caused by
collision between tool and positioner, make sure to check the operation
path before executing a job.
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