YASKAWA motoman NX100 - Page 237

9.9 Tool Data Setting
9-37
 Setting the Tool Load Information
The tool load information includes weight, a center of gravity position, and moment of inertia at
the center of gravity of the tool installed at the flange.
6 Press [ENTER]. The rotation angle of Rz is registered.
In the same way, register the angle of Ry, Rx.
Ry must be the input rotation angle around Y’
F
flange coordi-
nates.
Rx must be the input rotation angle around X’
F
of flange coordi-
nates.
If tool data is registered in the tool file by tool calibration, the old data will be deleted.
For more details on the tool load information, refer to " 9.11.3 Tool Load Information Set-
ting.”
Operation Explanation
Z
F
Z
F
Y
F
(Y )
F
X
F
Ry = 90
X
Y
Z
mm
mm
mm
0.000
0.000
0.000
Rx
Ry
Rz
deg.
deg.
deg.
0.00
90.00
180.00
Z
F
Y
F
X
F
Rx = 0
X
Y
Z
mm
mm
mm
0.000
0.000
0.000
Rx
Ry
Rz
deg.
deg.
deg.
0.00
90.00
180.00
NOTE
SUPPLE
-MENT