YASKAWA DX100 - Automatic Measurement of the Tool Load and the Center of Gravity; What Is the Automatic Measurement of the Tool Load and the Center of Gravity

8 System Setup
DX100 8.3 Tool Data Setting
8-32
3. Move the R, B, or T axes using the axis key.
– By pressing the axis keys for the R, B, and T axes, change the
manipulator pose without changing the TCP position.
If this operation shows a large TCP error, adjust the tool data.
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity
8.3.3.1 What is the Automatic Measurement of the Tool Load and the Center of Gravity?
With this function, the user can register the load of tool and the position of
the tools center of gravity.
The tool load and the position of it’s center of gravity are measured and
registered in a tool file.
SUPPLE
-MENT
For details on the TCP fixed operation, see "2.8.1 Motion
about TCP" in OPERATOR’S MANUAL.
TCP
NOTE
This function can be used where the manipulator is installed
level on the ground.
For the conditions required for manipulator installation, refer
to chapter 8.4 “ARM Control” at page 8-38.
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