YASKAWA Motoman UP6 Instructions Manual page 201

*2
Move the cursor to the desired number in the tool list and press [SELECT]. The tool
coordinates of the selected number is shown. In the tool coordinates, change the
desired number by pressing the page key
the tool coordinates, select {DISPLAY} and {LIST}, or {DISPLAY} and {COORDINATE
VALUE} under the menu.
*3
The display for the automatic measurement of the tool load and the center of gravity is
shown.
*4
In a system with several manipulators or stations, use the page key
the group to be controlled.
*5
Press [NEXT] once, and the manipulator moves to the home position (horizontal to the
U-, B- and R-axes).
*6
Press [NEXT] again, and measurement starts. Keep the button pressed until measure-
ment is completed. The manipulator moves in the order listed below. Once measure-
ment is completed, "*" changes to "'".
# Measurement of the U-axis: U-axis home position + 4.5 degrees ) -4.5 degrees
& Measurement of the B-axis: B-axis home position + 4.5 degrees ) -4.5 degrees
% First measurement of the T-axis: T-axis home position + 4.5 degrees ) -4.5 degrees
+ Second measurement of the T-axis: T-axis home position +60 degrees ) + 4.5
degrees ) -4.5 degrees
D A T A D A T A E D I T E D I T D I S P L A Y D I S P L A Y D I S P L A Y D I S P L A Y
T O O L T O O L L I S T L I S T
TOOL NO. : 0 0 TOOL NO. : 0 0
N A M E : T O R C H 1 N A M E : T O R C H 1
X X 0.000 0.000 mm mm Rx Rx
Y Y 0.000 mm 0.000 mm Ry Ry
Z Z 0.000 mm 0.000 mm Rz Rz
W W 0.000 kg 0.000 kg
Xg Xg 0.000 mm 0.000 mm
! !
D A T A
E D I T D I S P L A Y
W . G R A V . P O S M E A S U R E
TOOL :00
R1:W *.*** kg
Xg *.*** mm
Yg *.*** mm
Zg *.*** mm
R E G I S T E R
!
3-43
. To alternate between the tool list and
U T I L I T Y U T I L I T Y
L L
R1 R1
C C S S
0.00 deg. 0.00 deg.
0.00 deg. 0.00 deg.
0.00 deg. 0.00 deg.
U T I L I T Y
L
R1 C S
< STATUS >
HOME
U
B
T(1)
T(2)
C A N C E L
3.9 Tool Data Setting
to change