HW1484764
Safety Precautions
4-3
HW1484764
4.4. Settings Related to the Tool
With collaborative operation enabled, the gravity and inertia are also treated as external forces.
Therefore, you must preconfigure the mass of the tool attached and the workpiece transported and
change the settings before each step of the job.
The following examples show how to configure the tool file by specifying the hand information when
not transporting a workpiece and when transporting a workpiece, respectively.
For instance, in the case where a workpiece on the table is grasped and lifted by the hand, the
manipulator is loaded with the tool weight of the "hand only" before grasping the workpiece and with
the tool weight of the "hand and workpiece" after grasping the workpiece.
The following steps to configure the tool settings assume such a hand and workpiece as shown below:
Using the PFL function requires you to correctly configure the manipulator tool information by
specifying the information on the hand and workpiece you are going to use. Failure to correctly
configure the tool information could result in an unexpected operation of the manipulator.
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