System Setup
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* In this case, the moment of inertia (Icxi, Icyi, Iczi) of the welding gun is not taken into
account, since each gun is smaller than the entire tool.
9.4.2.2 Tool load information registering
The tool load data is registered in the tool file.
1. Select {ROBOT} from the main menu.
2. Select {TOOL}.
– The window with the tool coordinate list appears.
– The tool coordinate list is only displayed if TOOL NO. SWITCH is set to PERMIT in the
TEACHING CONDITION window.
– If TOOL NO. SWITCH is set to PROHIBIT in the TEACHING CONDITION window, the
tool window appears.
3. Select the desired tool number.
1) Move the cursor to the desired tool number, and press [SELECT] in the tool list window.
2) The tool coordinate window of the selected number appears.
3) Select the desired number in the tool list window by pressing the page button or clicking
the {PAGE} button.
4) To call the tool list window and the tool coordinate window, press {DISPLAY} {LIST}
or {DISPLAY} {COORDINATE DATA}.
<Setting>
W : 10,000 kg
Xg : 100,000 mm
Yg : -83,333 mm
Zg : 60,000 mm
lx : 0.100 kgm²
ly : 0,010 kgm²
lz : 0,100 kgm²
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