YASKAWA DX100 Instructions Manual page 104

DX100
0 degrees
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8 System Setup
8.4 ARM Control
Robot installation angle
The angle of the manipulator installed relative to ground is set in ANGLE
REL. TO GROUND to calculate the gravity moment which loads to each
axis of the manipulator.
The robot installation angle sets how much X axis of the robot coordinates
has inclined with the ground around Y axis of the robot coordinates. The
direction of + in the U axis operation from the home position posture of the
manipulator becomes direction of + of the robot installation angle.
Therefore, the robot installation angle for a vertical downward wall mount
specification becomes -90 degrees.
<Example>
-90 degrees
If the robot installation angle is not correctly set, the manipulator cannot
be properly controlled. Therefore, make sure to set the value correctly,
paying special attentions to the direction "+" or "-".
Only rotation angle around Y axis of the robot coordinates
can be set in the robot installation angle.
NOTE
Contact YASKAWA representative when robots is installed
to incline Y axis of the robot coordinates relative to ground.
S-head payload
Set the weight and the center of gravity position roughly when the
equipment such as transformer is installed at the S-head.
It is not necessary to set these values when there is no installed load on
the S-head.
8-39
Robot
+
installation
Angle
-
+90 degrees 180 degrees