YASKAWA YASNAC XRC - Automatic Measurement of the Tool Load and the Center of Gravity; Measurement of the Tool Load and the Center of Gravity; What Is the Automatic Measurement of the Tool Load and the Center of Gravity

3.9 Tool Data Setting
3-41
3.9.3
Automatic Measurement of the Tool Load and the
Center of Gravity
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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.
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Measurement of the Tool Load and the Center of Gravity
To measure the tool load and the center of gravity, move the manipulator to it’s home position
(horizontal to the U-, B- and R-axes) and operate the U-, B- and R-axes.
This function is available for the models listed below. Contact your Yaskawa representa-
tive for information on other models.
Applicable models: MOTOMAN UP6, SK16X, SK45X, and UP130
This function can be used where the manipulator is installed level on the ground.
For the conditions required for manipulator installation, refer to 3.11 “ARM Control”.
To measure the tool load or the center of gravity, remove the cables or wires connected to
the tool. Otherwise, the measurements may not be correct.
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