6 Robot Settings
6.1 Tool Settings
6-4
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Tool Mass Properties include the weight, a center of gravity position, and
moment of inertia at the center of gravity of the tool installed at the flange.
A visual representation of each is provided in fig. 6-4.
Fig. 6-4: Visual Representation of Tool Mass Properties
6.1.3.1 Weight
The total weight of the installed tool is set in kg. For a standard industrial
Robot, it is recommended to set a value slightly greater than the actual
load. Round up the value between 0.5 to 1.0 kg for small and medium
size Manipulator. For a Collaborative Robot, use the weight of the tool
assembly-as measured on an accurate scale.
If the weight changes during an application, multiple tools may need to be
created. For example, if the “gripper (tool)” grasps and lifts a “box (work)”
off a table, tool weight is “gripper only” until the “box” is grasped. Tool
weight becomes “gripper + box” after box is lifted. To reflect this
accurately, two tools must be created. The first tool represents the
“gripper (tool)” only and the second tool represents the “gripper + box”
combined.
Fig. 6-5: Tool Weight
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