System Setup
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NOTICE
• If the data setting is not made, the tool load data is not set correctly in the
following cases:
– When the weight (W) is "0".
– When the center of gravity for Xg, Yg and Zg is "0".
In these cases, the robot is controlled by means of the default settings (which different
depending on the robot model) made before shipping.
Initial setting value:
W = load-carrying capacity
Center of gravity position: (Xg, Yg, Zg) =
(0, 0, permissible value of the B-axis for the load-carrying capacity).
If the actual tool load is not great enough, the performance capability of the robot is
limited in this case (speed, acceleration, deceleration).
In particular, when the robot is operated with the preset value, a large difference
between the actual load and the preset load can result in vibrations during the robot's
movements: To ensure correct operation of the robot, it is therefore important to set the
tool load correctly.
In addition, the tool's moment of inertia cannot be compensated if a tool is installed
whose center of gravity is shifted significantly in the X or Y direction.
• Switching the tool file
If two or more tool files are used: Information on an effective tool file applies to the tool
load data used by the ARM control system at this time on the basis of the tool switch file.
Set the same tool load in all tool files if the tool file is switched in order to change only
the TCP (neither the weight nor the center of gravity of the entire tool installed with the
flange is changed).
In addition, set the values for the tool file accordingly when the total weight and centre
of gravity of the tool are changed (in the case of a system with an automatic tool
changer).
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