System Setup
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NOTICE
The moment of inertia at the center of gravity does not need to be measured when this data
is small enough for the moment of inertia calculated from weight and the center of gravity
position. However, the measurement is required when the moment of inertia of the tool is
large (as a rough guide, the tool is considered to be large when the tool size is about more
than 2-times the distance between the flange and the center of gravity).
1. Press [FWD].
Press [FWD], and the robot moves to the home position 1
(U-axis: horizontal to the ground, R-axis: rotating axis of B-axis is vertical to the ground,
T-axis: T-axis home position +90 degrees)
NOTICE
If the tool is interfered with during the measurement, operate the S-, L- and R-axes and
move the robot to avoid the interference. Then move the axis to the home position 1.
The size of the tool is not too big. Measurement of the moment of inertia at center of
gravity is not necessary.
The size of the tool is big. Measurement of the moment of inertia at center of gravity
is necessary.
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