YASKAWA YRC1000micro

HW1484764
Safety Precautions
4-4
HW1484764
4.4.1. How to Configure the Tool File
The following is an overview of how to configure the tool file.
1) Configure the Hand Information When not Grasping the Workpiece.
In this example, the hand information when not grasping the workpiece is configured as Tool 0.
Tool 0 configuration example (incorrect) Tool 0 configuration example (correct)
2) Configure the Hand Information When Grasping the Workpiece.
In this example, the hand information when grasping the workpiece is configured as Tool 1.
Tool 1 configuration example (incorrect) Tool 1 configuration example (correct)
For more information on how to configure the tool information, refer to "8.3 Tool Data
Setting" in "YRC1000/YRC1000micro INSTRUCTIONS".
CAUTION
With the MOTOMAN-HC10, do not use the “Automatic Measurement of the Tool Load and the
Center of Gravity” because of significant error.
Manually enter the design values of the tool.
Hand weight not specified
Center of gravity of the
hand not specified
Workpiece-only
weight is set
Hand-only
center of gravity
is set
Be sure to configure
the weight and center
of gravity of the hand
and workpiece.
Be sure to specify
the weight and
the center of
gravity as well.
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