8-24
182582-1CD
182582-1CD
8 System Setup
8.3 Tool Data Setting
MH900, DX200 Controller
– Rx must be the input rotation angle around X’
F
of flange
coordinates.
8.3.1.4 Setting the Tool Load Information
The tool load information includes weight, a center of gravity position, and
moment of inertia at the center of gravity of the tool installed at the flange.
Sets the tool load information by the design value of the tool.
If the design value is uncertain, use of the “Automatic Measurement of the
Tool Load and the Center of Gravity” enable to set the tool
load information easily.
8.3.2 Tool Calibration
8.3.2.1 Tool Calibration
To ensure that the manipulator can perform motion type operations such
as linear and circular motion type correctly, accurate dimensional
information on tools such as torches, tools, and guns must be registered
and the position of the TCP must be defined.
Tool calibration is a function that enables this dimensional information to
be registered easily and accurately. When this function is used, the TCP is
automatically calculated and registered in the tool file.
Z
F
Y
F
X
F
Rx = 0
For more details on the tool load information, refer to
section 8.4.3 “Tool Load Information Setting” on page 8-43.
For more details on “Automatic Measurement of the Tool
Load and the Center of Gravity”, refer to section 8.3.3
“Automatic Measurement of the Tool Load and the Center of
Gravity” on page 8-33.
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