YASKAWA DX100 - Measurement of the Tool Load and the Center of Gravity

8 System Setup
DX100 8.3 Tool Data Setting
8-33
8.3.3.2 Measurement of the Tool Load and the Center of Gravity
To measure the tool load and the center of gravity, move the manipulator
to its home position (horizontal to the U-, B- and R-axes) and operate the
U-, B- and T-axes.
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
– The tool list window appears.
– The tool list window is called up only when the file extension function
is valid.
NOTE
To correctly measure the tool load or the center of gravity,
remove the cables or wires connected to the tool.
U-
U+
B-
B+
T-
T+
Zero-degree Installation on the Ground
Home Position
(Horizontal to the U-,
B- and R-axes)
T-axis
B-axis
R-axis
 U-axis
L-axis
S-axis
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