YASKAWA Motoman UP6 - Setting the Tool Load Information

3.9 Tool Data Setting
3-35
*1
In the same way shown in Explanation *1,*2 in ”Registering coordinate data”, the
desired tool coordinate display is shown.
*2
First, select Rz.
*3
Input rotation angle around Z
F
of the flange coordinates.
*4
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 coordinates.
Rx must be the input rotation angle around X
F
of flange coordinates.
"
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.
Select {ROBOT} under the top menu Select {TOOL}
Select the desired tool
number
*1
Select the desired coordinate axis to modify
*2
Input the tool pose
data
*3
Press [ENTER
*4
If tool data is registered in the tool file by tool calibration, the old data will be deleted.
Operation
Explanation
X
F
Z
F
Y
F
X
F
Y
F
Rz = 180
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 180.00 deg.
Z
F
Z
F
Y
F F
X
F
Ry = 90
(Y )
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 90.00 deg.
Z 0.000 mm Rz 180.00 deg.
Z
F
Y
F
X
F
Rx = 0
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 90.00 deg.
Z 0.000 mm Rz 180.00 deg.
NOTE