YASKAWA DX200 - Page 123

8-36
182582-1CD
182582-1CD
8 System Setup
8.3 Tool Data Setting
MH900, DX200 Controller
4. Select {UTILITY} under the menu.
5. Select {W.GRAV.POS MEASURE}.
– The window for the automatic measurement of the tool load and the
center of gravity is shown.
6. Press the [PAGE].
– In a system with several manipulators, use the [PAGE] to change
the group to be controlled.
7. Press [FWD].
– Press [FWD] once, and the manipulator moves to the home position
(horizontal to the U-, B- and R-axes).
8. Press [FWD] again.
– Press [FWD] again, and measurement starts. Keep the button
pressed until measurement is completed.
The manipulator moves in the order listed below. Once measurement is
completed, ““changes to ““.
Measurement of the U-axis: U-axis home position +4.5 degrees 
-4.5 degrees
Measurement of the B-axis: B-axis home position +4.5 degrees 
-4.5 degrees
1
2
123 of 552