YASKAWA MOTOMAN YRC1000 - 9.3.6 Automatic Measurement of the Tool Load and the center of gravity

System Setup
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9.3.6 Automatic Measurement of the Tool Load and the center of gravity
This function allows the user to register the tool load and the position of the tool's centre of
gravity.
The tool load and centre of gravity are measured and registered in a tool file.
NOTICE
This function can be used if the robot is installed on a level surface. The requirements for
the installation of the robot are described in section 9.4 "ARM Control" on page 110.
To measure the tool load and centre of gravity, move the robot to its home position
(horizontal to the U-, B- and R-axes), and move the U-, B- and T-axes.
NOTICE
To measure the tool load or centre of gravity, remove all cable connections to the tool.
1. Select {ROBOT} from the main menu.
U-axis
R-axis
B-axis
T-axis
Zero position (horizontal to the U-, B- and
R-axes)
Zero-degree installation on the floor
S-axis
L-axis
1
U-
U+
B-
B+
T-
T+
2
3
4
5
6
7
8