YASKAWA YR-UP6-A00 - Instruction of Shock Detection Function

3.12 Shock Detection Function
3-68
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Weight
This is total weight of the installed tool.
Input weight by a numeric key and press [ENTER] after the numeric input status is
appeared by moving the cursor and pressing [SELECT].
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Center of Gravity Position
This is center of gravity position of the installed tool. The value are specified by the
coordinates value on each axis of the flange coordinates. Input the center of gravity
position by a numeric key and press [ENTER] after the numeric input status is
appeared by moving the cursor and pressing [SELECT].
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Moment of inertia at the Center of Gravity
This is Moment of inertia of the tool at the Center of Gravity in (2). The values are
specified around each axis of the coordinates that are in parallel to the flange coor-
dinates and where the original point is the center of gravity position.
Input the moment of inertia by numeric key and press [ENTER] after the numeric
input status is appeared by moving the cursor and pressing [SELECT].
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Instruction of Shock Detection Function
SHCKSET instruction
The SHCKSET instruction changes the shock detection level to the value set in the shock
detection level file during play back operation.
The additional items of the SHCKSET instruction are as follows.
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Robot / Station Setting
The robot or the station axis which is desired to change the shock detection level is speci-
fied. If nothing is specified, the detection level of the control group of the job to which this
instruction is registered is changed.
However, if the job is coordinated job, the detection level of the slave axis group is
changed.
TOOL
TOOL NO. : 00
W 0.000 kg
Xg 0.000 mm
Yg 0.000 mm
Zg 0.000 mm
Ix 0.000 kg.m2
Iy 0.000 kg.m2
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DATA
EDIT DISPLAY UTILITY
R1
S
C
L
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SHCKSET R1 SSL#(1)
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