8.4 ARM Control
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8.4 ARM Control
8.4.1 ARM Control
ARM Control, a control system originally developed by Yaskawa, achieves an enhanced robot
motion performance such as improved path accuracy or educed cycle time.
The moment of inertia and the gravity moment etc. of each axis are calculated by the ARM
control function, and NX100 controls robot motion according to the result. It is necessary to
set the Robot setup condition and the tool load information to request these accurately.
The robot setup condition is robot installation angle relative to ground and the weight and a
center of gravity position of the load installed at each part of robot, etc.
The tool load information is weight, a center of gravity position, and moment of inertia at the
center of gravity, of the tool installed at the flange.
It is necessary to set these information correctly to do a better operation control by the ARM
control.
8.4.2 ARM CONTROL Window
In ARM CONTROL window, the robot setup condition etc. are set.
• Correctly set the robot setup condition.
Make sure to avoid any mistake in setting the unit indication or specifying positive and
negative values. Failure to observe this caution may lead to improper control of the
manipulator, resulting in error occurrence or short life span of speed reducer.
• Confirm the operation path of robot of each job when modifying settings.
Set the robot setup condition when setting up the manipulator.
Confirm the operation path of manipulator of each job afterwards when the setting should
be modified after the installation.
Modifying the settings of the ARM control may slightly change the operation path. To
avoid injury or damage to machinery caused by collision between tool and positioner,
make sure to check the operation path before executing a job.
CAUTION
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