6 Robot Settings
6.1 Tool Settings
6-6
HW1485509
HW1485509
6.1.3.4 Automatic Estimation of Tool Mass Properties
To ensure a Robot can achieve the speeds and force levels intended,
accurate mass properties for the installed tool (and workpiece if present)
must be registered. In the absence of known mass properties, Tool Load
Estimation is an operation approximates this data through Robot motion.
After a series of motions are completed, the selected mass properties will
be updated and can be sent to the {Tools} screen for the user to review
and save.
To estimate the mass properties of a tool load, move the manipulator to its
home position (U-, B- and R-axes: horizontal to the ground) and operate
the U-, B- and T-axes.
Fig. 6-8: Estimating Mass Properties of a Tool Load
On Smart Pendant, the Tool Load Estimation screen can be accessed as
follows:
1. Go to {MENU} {Robot Settings} {Tools}
2. Select the desired Tool from the list at the top.
This function can only be used with floor-mounted
Manipulator configurations. Also, this feature will not
account for any loads applied to the upper arm (ARM
Control on Software Pendant).
To correctly estimate tool weight, center of gravity, and/or
inertia, remove any cables or wires connected to the tool to
prevent unnecessary loads from being applied.
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