9.11 ARM Control
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9.11.3 Tool Load Information Setting
Tool Load Information
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. These are registered in the tool file.
How to Calculate Tool Load Information
Weight : W (Unit:kg)
The total weight of the installing tool is set.
Set a little large value though it does not care by a rough value. Rase to a unit in each 0.5 to
1kg for small or middle robot and rase to a unit in each 1 to 5kg for large robot.
• Set the tool load information correctly.
The speed reducer longevity might decrease or the alarm might occur when the tool load
information is not set correctly.
• Confirm the operation path of robot of each job which uses the tool file
after the tool load information is changed.
Set the tool load information basically before teaching the job after the tool is installed.
Confirm the operation path of each job which uses the tool file when the tool load informa-
tion is changed after teaching, unavoidably.
Injury or damage to machinery may result by collision between tool and positioner
because the operation path might be changed slightly when the tool load information is
changed.
CAUTION
* Flange Coodinates
XF: It is a direction right above when T axis
is 0 pulse position and the flange surface
of the manipulator turned to the front.
YF: Y axis led by XF,ZF
ZF: Perpendicular direction from flange surface
XF
ZF
YF
XF'
ZF'
YF'
Center of Gravity Position
( Xg, Yg, Zg )
Iy
Iz
Ix
Moment of inertia around the Center of Gravity
Ix, Iy, Iz
Weight:W
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