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8.3 Tool Data Setting

8-28

8.3.3 Automatic Measurement of the Tool Load and the

Center of Gravity

 What is the Automatic Measurement of the Tool Load and the Cen-

ter of Gravity?

With this function, the user can register the load of tool and the position of the tools center of

gravity.

The tool load and the position of it’s center of gravity are measured and registered in a tool

file.

 Measurement of the Tool Load and the Center of Gravity

To measure the tool load and the center of gravity, move the manipulator to its home position

(horizontal to the U-, B- and R-axes) and operate the U-, B- and T-axes.

This function can be used where the manipulator is installed level on the ground.

For the conditions required for manipulator installation, refer to "8.4 ARM Control".

To correctly measure the tool load or the center of gravity, remove the cables or wires con-

nected to the tool.

NOTE

 U-axis

R-axis

B-axis

T-axis

L-axis

S-axis

U-

U+

B-

B+

T-

T+

Zero-degree Installation on the Ground

Home Position

(Horizontal to the U-,

B- and R-axes)

NOTE

YASKAWA NX100 Instructions

Other manuals for YASKAWA NX100