YASKAWA YASNAC XRC - Page 201

3.9 Tool Data Setting
3-43
*2
Move the cursor to the desired number in the tool list and press [SELECT]. The tool
coordinates of the selected number is shown. In the tool coordinates, change the
desired number by pressing the page key . To alternate between the tool list and
the tool coordinates, select {DISPLAY} and {LIST}, or {DISPLAY} and {COORDINATE
VALUE} under the menu.
*3
The display for the automatic measurement of the tool load and the center of gravity is
shown.
*4
In a system with several manipulators or stations, use the page key to change
the group to be controlled.
*5
Press [NEXT] once, and the manipulator moves to the home position (horizontal to the
U-, B- and R-axes).
*6
Press [NEXT] again, and measurement starts. Keep the button pressed until measure-
ment is completed. The manipulator moves in the order listed below. Once measure-
ment is completed, “
*
“ 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
TOOL
TOOL NO. : 00
NAME :TORCH1
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0.000 mm
!
R1
SC
L
DATA
EDIT DISPLAY UTILITY
LIST
DISPLAY
TOOL
TOOL NO. : 00
NAME :TORCH1
X 0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0.000 mm
!
R1
SC
L
DATA
EDIT DISPLAY UTILITY
LIST
DISPLAY
W.GRAV.POS MEASURE
TOOL :00
R1:W *.*** kg < STATUS >
HOME
Xg *.*** mm U
Yg *.*** mm B
Zg *.*** mm T(1)
T(2)
!
DATA
EDIT DISPLAY UTILITY
R1
S
C
L
CANCEL
REGISTER