System Setup
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9.4.1.4 U-arm payload
Set the weight and centre of gravity approximately when equipment such as motors are
installed on the U arm.
A default value is set at the factory.
Specify 0 for the weight if no equipment is installed on the U arm.
• Weight (unit: kg)
The weight of the installed load is set here.
Set a low value, which can be an approximate value (increase it in 0.5 increments to 1
kg).
• X (from the U-axis), height (from the U-axis) (unit: mm).
The centre point of the installed load is set here. This can be an approximate value.
X (from the U-axis) is the horizontal distance between the centre of rotation of the U-
axis and the centre of gravity of the load. Set a negative value if the mass is to the rear
of the centre of rotation of the U-axis.
Height (from the U-axis) is the vertical distance between the centre of rotation of the U-
axis and the centre of gravity of the load.
Fig. 9-2: Load on the U arm: Centre of gravity (side view)
NOTICE
The "ARM CONTROL" window is only displayed if SECURITY mode is set to the
MANAGEMENT mode.
1. Select {ROBOT} from the main menu.
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