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3.11 ARM Control
"
Robot Setup Condition
It is necessary to set the following robot setup condition to execute the ARM control appropri-
ately.
• Robot installation angle
• S-head payload
• U-arm payload
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 earth 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 installa-
tion angle. Therefore, the robot installation angle for a vertical downward wall mount specifi-
cation becomes -90 degrees.
<Example>
0 degrees
Because the gravity moment which loads to each axis can't be calculated correctly when this
value is not correctly set, it can not be possible to control the manipulator appropriately. Set
the value correctly. Especially, note the direction "+" or "-".
Only rotation angle around Y axis of the robot coordinates can be set in the robot installa-
N OT E
tion angle.
Contact YASKAWA representative when robots is installed to incline Y axis of the robot
coordinates relative to ground.
Robot
installation
Angle
-90 degrees
+90 degrees
3-50
+
-
180 degrees
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