6 Robot Settings
6.1 Tool Settings
6-8
HW1485509
HW1485509
Tool Load Estimation Procedure
Three steps are required to successfully estimate the mass properties of
the installed tool (and workpiece if present):
1. Selection of {Properties to Estimate}
2. Execute the motion sequences to estimate tool mass properties
3. Confirm, send, and save results on the {Tools} screen
Detailed instructions to complete these steps is provided in the following
sections.
1. Selection of Physical Properties to Estimate
– The user can select from one of two methods on the {Tool Load
Estimation} screen:
Fig. 6-11: Tool Load Estimation Screen
• Weight + Center of Gravity + Inertia: Estimates all mass
properties of the installed tool
• Weight and Center of Gravity must be accurately entered for
the system to perform as intended. Inertia is particularly
important for large and/or non-symmetric tools.
• Weight + Center of Gravity: Estimates weight and center of
gravity only
• This option skips the inertia estimation, saving time for small,
symmetric tools
2. Motion Sequence for Tool Load Estimation
This procedure uses a series of Robot motions to estimate the
properties selected. An image on the right side of the screen will
dynamically update to indicate which axes are moving during each
step of the process. Use the following components to successfully
complete the estimation procedure:
CAUTION
• Make sure the installed tool does not interfere with the Robot.
Failure to observe this caution can result in equipment damage.
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