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182582-1CD
182582-1CD
8 System Setup
8.4 ARM Control
MH900, DX200 Controller
• When the data setting is not done
It is considered that data is not set correctly in tool load
information in the following cases.
• When the weight (W) is “0”.
• When the center of gravity position (Xg, Yg, Zg) are all
“0”.
In these cases, the manipulator is controlled by the initial
setting values (vary according to each robot model) which
were set to the parameter before shipping.
Initial Setting Value:
Weight: W = Payload
Center of gravity position: (Xg, Yg, Zg) =
(0, 0, Allowed value of B-axis for payload)
In this case, when an actual tool load is not large enough,
the manipulator cannot sufficiently exert its function, (speed
and acceleration / deceleration). Especially, when operating
the manipulator with the initial setting value, a difference of
100 kg or more in the load between the actual tool load and
the initial setting value may cause vibrations in the
manipulator motion: it is therefore essential to correctly set
the tool load information for the proper operation of the
manipulator.
Moreover, when the tool which an actual tool center of
gravity position greatly offsets in X-direction or Y-direction is
installed the generated moment by the tool cannot be
compensated.
To set the tool load information correctly, following message
appears when the playback operation is executed by using
the initial setting value.
“Using robot without setting tool info. may result in
premature failure of the robot. Set W, Xg, Yg, and Zg in the
tool file.”
• Switch of the tool file
In case that two or more tool files are used, information on
an effective tool file is referred for tool load information used
by the ARM control at that time in according to switch tool
file.
Set the same value of tool load information in each tool file
when the tool file is switched to change only TCP (when
neither the weight nor the center of gravity position of the
entire tool installed in the flange is changed).
• Moreover, set tool load information to the corresponding
tool file respectively when total weight and the center of
gravity position etc. of the tool is changed (when the
system which exchange the tool by automatic tool
changer).
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