YASKAWA DX200 - Page 121

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8 System Setup
8.3 Tool Data Setting
MH900, DX200 Controller
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.
If the file extension function is invalid, the tool coordinate window appears.
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
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