9.11 ARM Control
9-66
4 Select the desired item to reg-
ister and input the value.
The window can be scrolled by the cursor. The menu enters the
state of a numeric input if the cursor is on the desired item to reg-
ister and the [SELECT] is pressed.
5 Press [ENTER]. The input value is registered. The servo power is automatically
turned off when editing the value during the servo power turned
on, and the message "Servo off by changing data " is shown for
three seconds.
• 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 using the standard parameter value (Differ
in each robot model) which were set when shipping.
Standard 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 too heavy, the manipulator can’t be performed
enough.
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 compen-
sated.
• 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).
Operation Explanation
Main Menu ShortCut
EDIT
DISPLAY
UTILITY
DATA
TOOL
TOOL NO.
00
R1:W
Weight
Center of
Gravity Position
Moment of Inertia
at Center of Gravity
kg
mm
mm
mm
Xg
Yg
Zg
0.000
0.000
0.000
0.000
kg.m2
kg.m2
Ix
Iy
0.000
0.000
0.000
NOTE
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