System Setup
9 - 112
NOTICE
Only the angle of rotation around the Y-axis of the robot coordinates can be set in the robot
installation angle.
Contact your YASKAWA office if the Y-axis of the robot coordinates is to be inclined relative
to the floor.
9.4.1.3 S-head payload
Set the weight and centre of gravity approximately when equipment such as transformers
are installed in the S head.
These values do not have to be set if no load is installed in the S head.
• Weight (unit: kg)
The weight of the installed load is set.
It is not necessary to set the correct value. However, it is recommended to set a value
that is somewhat higher than the actual load (round the value up in the case of loads
between 0.5 and 1 kg).
• X (from the S-axis), Y (from the S-axis) (unit: mm).
The centre of gravity of the installed load results from the distance in the X and Y
directions from the S-axis centre point. This can be an approximate value.
The X and Y directions refer to the robot coordinates. The value is negative if position
is in the minus (-) direction.
Fig. 9-1: Load on the S head (view from above)
S-axis centre point (X position, Y position)
+X
+Y
-X
-Y
2
1
1
2
To Next Page
Loading...
