YASKAWA Motoman UP6 - Tool Load Information Registering

3.11 ARM Control
3-61
* Here, the own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded, because each gun
are smaller enough than the entire tool.
<Setting>
"
Tool load Information registering
Tool load Information is registered in the tool file.
*1
The tool list display is shown. Only when the file expansion function is valid, the tool list
display is shown. When the file expansion function is invalid, the tool coordinates dis-
play is shown.
• W
:
10.000
kg
• Xg
:
100.000
mm
• Yg
:
-83.333
mm
• Zg
:
60.000
mm
• Ix
:
0.100
kg.m
2
• Iy
:
0.010
kg.m
2
• Iz
:
0.100
kg.m
2
Select {ROBOT} under the top menu Select {TOOL}
*1
Select the desired tool
number
*2
Select the desired item to register and input the value
*3
Press
[ENTER]
*4
Operation
Explanation
TOOL COORDINATE
NO. NAME
00 [TORCH1 ]
01 [TORCH2 ]
02 [ ]
03 [ ]
04 [ ]
05 [ ]
06 [ ]
07 [ ]
!
DATA
EDIT DISPLAY UTILITY
R1
S
C
L
DATA EDIT DISPLAY UTILITY
R1
SC
L
TOOL
TOOL NO. : 00
NAME:TOACH1
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0.000 mm
!