System Setup
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6. Press the [GO BACK PAGE] button.
In a system with multiple robots, use [GO BACK PAGE] to switch the group to be
controlled.
7. Press [FWD].
– Press [FWD] once. The robot returns to its home position (horizontal to the U-, B- and
R-axes).
8. Press [FWD] again.
– Press [FWD] again to start measurement. Hold the button down until measurement is
completed.
The robot moves in the sequence described below. When measurement is completed,
the indicator "" changes to "".
1) Measurement of the U-axis: Home position of the U-axis + 4.5 degrees -4.5 degrees.
2) Measurement of the B-axis: Home position of the B-axis + 4.5 degrees -4.5 degrees.
3) First measurement of the T-axis: Home position of the T-axis + 4.5 degrees -4.5
degrees.
4) Second measurement of the T-axis: Home position of the T-axis + 60 degrees
+4.5 degrees -4.5 degrees.
NOTICE
During measurement, the speed automatically changes to "Medium".
During measurement, "HOME" or "U" flashes on the screen.
Hold the [FWD] button down during measurement. If the button is released during
measurement or before "" changes to "", measurement is aborted. The following
message appears: "Stopped measurement"
The measurement is carried out again from the first home position.
– Once all measurements are completed or all markings have changed from "" to "",
the measurement results are displayed.
9. Select "REGISTER".
The measurement results are registered in the tool file, and the tool coordinate window
appears.
Select "CANCEL" to call the tool list window without registering the measurement
results in the tool file.
Measurement of the moment of inertia at the center of gravity
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