Setting Control Set Of Motion Optimization - Denso VM-G Series Installation & Maintenance Manual

2.5

Setting Control Set of Motion Optimization

The optimum speed or acceleration will vary depending upon the payload and center of
gravity of an end-effector or workpiece that is to be set at the end of the robot flange.
Set the payload and center of gravity position of the end-effector or workpiece and the
control set of motion optimization according to the payload and robot posture.
The mass of payload is a total mass of an end-effector and workpiece, expressed in
grams.
For further information, see the PROGRAMMER'S MANUAL, Section 4.7 "Setting the
Master Control Parameters in User Preferences." For the setting procedure, refer to
the SETTING-UP MANUAL, Section 2.9 "Setting the Master Control Parameters of the
Payload, Center of Gravity, and Control Set of Motion Optimization."
The payload center of gravity is represented by the TOOL0 coordinate system (see this
figure below) in the unit of mm.
The origin of the TOOL0 coordinate system is the center of the 6th axis flange. Its
Y-component is in the direction from the flange center to the φ6H7 pin hole (orientation
vector direction). The Z-component is in the vertical direction to the flange face across
the flange center (approach vector direction). The X-component is in the X-axis
direction of the right hand coordinate system (normal vector direction) with the
orientation vector as the Y-axis and the approach vector as the Z-axis. (See the figure
on the next page.)
6th axis flange
face
+ X
b
+ Z
b
Orientation vector
Approach vector
+ Y
b
Payload Center of Gravity
Orientation vector (Y-axis)
TOOL0 coordinate axis
Z
Y
6
X
68
φ6H7 (pin hole)
Normal vector (X-axis)
Approach vector (Z-axis)
Center of flange
Position of payload center of gravity
(X , Y , Z )
6 6 6
X
6
Y
Z
6