6 Robot Settings
6.1 Tool Settings
6-10
HW1485509
HW1485509
3. Send New Mass Property Data to Tools Screen
Review the results for the chosen physical properties. If no errors in
the estimation are present, press {Send & Review Data} to send the
date to the {Tools} screen for saving. Refer to chapter 6.1.5 for
instructions to properly save the data.
4. Verification of Estimated Tool Mass Properties
If using a non-collaborative Robot, run a job that contains motions
programmed with the tool that now has newly saved property data. If
the job runs at the desired speed with no collision detection alarms,
the estimated mass property data is sufficient.
If using a collaborative Robot, navigate to the {Utility} {Force/Torque
Watch} to view the live torque sensor readings. Ensure the Active Tool
# is set to the tool that has newly estimated mass property data. If any
of the TCP values are greater than 30N while the Robot is static, the
Tool Load Estimation procedure should be repeated to obtain more
accurate values.
To Next Page
Loading...
