System Setup
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9.3.4 Setting the tool load information
WARNING!
Injuries and damage in the event of a collision between the tool and positioner
Changes to the tool load data can lead to minor changes to the robot path. To prevent
injuries or damage as a result of a collision between the tool and positioner, check the path
before the execution of a JOB.
Ensure that the correct tool load data is entered.
If the tool load data is entered incorrectly, this may reduce the life of the gear reduction
unit or cause an error message to be output.
After changing the tool load data, check the robot path for each JOB that accesses the
tool file.
Before the teach-in for the JOB and after installing the tool, carry out basic system
settings for the tool load data.
Check the path for each JOB that accesses the tool file if the tool load data had to be
changed after the teach-in.
The tool load data is:
• The weight
• The centre of gravity
• The moment of inertia at the centre of gravity of the tool installed on the flange
NOTICE
You will find more information on the tool load data in section 9.4.2 "Tool load information
setting" on page 115.
If the design value is uncertain, use of the “Automatic Measurement of the Tool Load and
the Center of Gravity” enable to set the tool load information easily.
NOTICE
For more details on “Automatic Measurement of the Tool Load and the Center of Gravity”,
refer to chapter 9.3.6 "Automatic Measurement of the Tool Load and the center of gravity".
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