Tool Load Information Registering - YASKAWA Motoman UP6 Instructions Manual

* Here, the own moment of inertia (Icxi, Icyi, Iczi) of the gun is disregarded, because each gun
are smaller enough than the entire tool.
<Setting>
• W :
10.000
• Xg : 100.000
• Yg
: -83.333
• Zg : 60.000
• Ix :
0.100
• Iy :
0.010
• Iz :
0.100
"

Tool load Information registering

Tool load Information is registered in the tool file.
Operation
Select {ROBOT} under the top menu
*2
number Select the desired item to register and input the value
*4
[ENTER]
Explanation
*1
The tool list display is shown. Only when the file expansion function is valid, the tool list
display is shown. When the file expansion function is invalid, the tool coordinates dis-
play is shown.
kg
mm
mm
mm
kg.m
2
kg.m
2
kg.m
2
D A T A
E D I T
T O O L C O O R D I N A T E
NO.
0 0 [TORCH1
01 [TORCH2
02 [
03 [
04 [
05 [
06 [
07 [
!
D A T A EDIT
T O O L
TOOL NO. : 00
NAME:TOACH1
X 0.000 mm
Y 0.000 mm
Z 0.000 mm
W 0.000 kg
Xg 0.000 mm
!
3-61
*1
Select {TOOL}
D I S P L A Y U T I L I T Y
L
R1 C
S
NAME
]
]
]
]
]
]
]
]
DISPLAY UTILITY
L
R1 C S
Rx 0.00 deg.
Ry 0.00 deg.
Rz 0.00 deg.
3.11 ARM Control
Select the desired tool
*3
Press