8-50
182582-1CD
182582-1CD
8 System Setup
8.4 ARM Control
MH900, DX200 Controller
Iz = 3 * ((100 - 100)
2
+ (50 - (-83))
2
) * 10
-6
+ 6 * ((100 - 100)
2
+ ((-150) - (-83))
2
) * 10
-6
= 0.080 = approx. 0.100
* The own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded in
this example, since each gun is smaller than the entire tool.
<Setting>
8.4.3.3 Tool Load Information Registering
Tool load information is registered in the tool file.
1. Select {ROBOT} under the main menu.
2. Select {TOOL}.
– The tool coordinate list window appears.
– The tool coordinate list window appears only when TOOL NO.
SWITCH in the TEACHING CONDITION window is set to PERMIT.
– When TOOL NO. SWITCH in the TEACHING CONDITION window
is set to PROHIBIT, the tool window appears.
• W : 10.000 kg
• Xg : 100.000 mm
• Yg : -83.333 mm
• Zg : 60.000 mm
• Ix : 0.100 kg.m
2
• Iy : 0.010 kg.m
2
• Iz : 0.100 kg.m
2
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