Setting The Tool Load Information - YASKAWA Motoman UP6 Instructions Manual

Operation
Select {ROBOT} under the top menu
*1
number Select the desired coordinate axis to modify
*3
data Press [ENTER
Explanation
*1
In the same way shown in Explanation *1,*2 in "Registering coordinate data", the
desired tool coordinate display is shown.
*2
First, select Rz.
*3
Input rotation angle around Z
Y
F
Z
F
*4
The rotation angle of Rz is registered.
In the same way, register the angle of Ry, Rx.
Ry must be the input rotation angle around Y
Z
F
Z
F
Rx must be the input rotation angle around X
Z
F
N OT E
If tool data is registered in the tool file by tool calibration, the old data will be deleted.
"

Setting the Tool Load Information

The tool load information includes weight, a center of gravity position, and moment of inertia at
the center of gravity of the tool installed at the flange.
*4
of the flange coordinates.
F
X
F
Y
F
X
Rz = 180
F
X
F
(Y )
Y
F F
Ry = 90
X
F
Y
F
Rx = 0
Select {TOOL}
*2
X 0.000 mm
Y 0.000 mm
Z 0.000 mm
flange coordinates.
F
X 0.000 mm Rx
Y 0.000 mm Ry
Z 0.000 mm Rz 180.00 deg.
of flange coordinates.
F
X 0.000 mm
Y 0.000 mm
Z 0.000 mm
3-35
3.9 Tool Data Setting
Select the desired tool
Input the tool pose
Rx 0.00 deg.
Ry 0.00 deg.
Rz 180.00 deg.
0.00 deg.
90.00 deg.
Rx 0.00 deg.
Ry 90.00 deg.
Rz 180.00 deg.