8.3 Tool Data Setting
8-30
5 Select {W.GRAV.POS MEA-
SURE}.
The window for the automatic measurement of the tool load and
the center of gravity is shown.
6
Press the page key .
In a system with several manipulators, use the page key
to change the group to be controlled.
7
Press [FWD].
Press [FWD] once, and the manipulator moves to the home posi-
tion (horizontal to the U-, B- and R-axes).
8 Press [FWD] again.
(Continued on the next page.)
Press [FWD] again, and measurement starts. Keep the button
pressed until measurement is completed. The manipulator
moves in the order listed below. Once measurement is com-
pleted, ““changes to ““.
Measurement of the U-axis: U-axis home position +4.5
degrees -4.5 degrees
Measurement of the B-axis: B-axis home position +4.5
degrees -4.5 degrees
First measurement of the T-axis: T-axis home position +4.5
degrees -4.5 degrees
Second measurement of the T-axis: T-axis home position +60
degrees +4.5 degrees -4.5 degrees
Operation Explanation
Short CutMain Menu
W.GRAV.POS MEASURE
DATA EDIT DISPLAY UTILITY
TOOL NO. : 00
:
:
:
:
:
<STATUS>
HOME
U
B
T(1)
T(2)
W
Xg
Yg
Zg
R2
:
kg
mm
mm
mm
.
.
.
.
LOAD SETTING ON U-ARM NOT CONSIDER
CANCELCOMPLETE PAGE
PAGE
GO BACK
PAGE
GO BACK
• The speed during measurement automatically
changes to “Medium”.
• During the measurement, “HOME” or “U” blinks on
the screen.
• During the measurement, the [FWD] button has to
be kept pressed. If the button is released during
the measurement or if it is released before
““changes into ““, the measurement is aborted
and the following message appears:
“Stopped measurement”
The measurement starts again from the first home
position.
NOTE
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