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S-head payload
Set the mass and the center of gravity position roughly when the equipment such as trans-
former is installed at the S-head.
It is not necessary to set these value when there is no installed load at the S-head.
WEIGHT (Unit:kg)
The weight of the installed load is set.
Set a little large value though it does not care by a rough value. (Rase to a unit in each 0.5 to
1kg)
X (From S-Axis), Y (From S-Axis) (unit: mm)
The center of gravity position of the installed load is set by the distance in the direction of X
and the direction of Y from S axis center here. It does not care by a rough value.
The direction of X and Y applies to the robot coordinates. The value is set by a negative num-
ber when the position is in "-" direction.
S axis center
U-arm payload
Set the weight and the center of gravity position roughly when the equipment such as the wire
supplying motors is installed on U arm.
A standard value is set when shipping from the factory.
Set the weight in "0" if there is no installing equipment on U arm.
WEIGHT (Unit:kg)
The weight of the installing load is set here.
Set a little large value though it does not care by a rough value. (Rase to a unit in each 0.5 to
1kg)
X (From U-Axis), HEIGHT (From U-Axis) (unit: mm)
The center of gravity position of the load installed is set here. It does not care by a rough
value.
X (From U-Axis) is horizontal distance from U axis rotation center to the center of gravity posi-
tion of the load. Set negative number when there is mass side in the back from U axis rotation
center.
-X
-Y
+X
Load at S-head (Top View)
3-51
3.11 ARM Control
+Y
(X position, Y position)
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