System Setup
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9.4.2 Tool load information setting
WARNING!
Personal injury or equipment damage by collision between a tool and a fixture
Perform the settings of the tool load information after installing the tool and before teaching
a JOB. If the tool load information is modified at another time, check the path of the robots
operation for each JOB which uses the corresponding tool file.
Modifying the tool load information may slightly change the path of the robots operation at
the execution of a JOB. Make sure to check the path of the robots operation before
executing the JOB.
After modifying the tool load information, check the path of the robots operation for each
JOB which uses the corresponding tool file.
CAUTION!
Wrong tool information shortened life of the speed reducer or an alarm occurrence.
Using robot with wrong tool information may result in premature failure of the robot.
The following message appears as a reminder when the tool load information is input.
“Input correct tool information. Using robot with wrong tool information may result in
premature failure of the robot”.
Correctly set the tool load information.
The tool load data is the weight, the centre of gravity and the moment of inertia at the centre
of gravity of the tool installed on the flange. This is registered in the tool file.
* Flange coordinates
XF: The direction is vertical upwards when the T-axis is in the 0 pulse position and the
robot's flange surface is turned to the front.
YF: Y-axis LED of XF, ZF
ZF: Vertically from the flange surface
Moment of inertia around the centre of
gravity lx, ly, lz
Centre of gravity (Xg, Yg, Zg)
Weight: W
XF
ZF
YF
XF'
ZF'
YF'
Iy
Iz
Ix
1
2
3
1
3
2
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