YASKAWA Motoman UP6 Instructions Manual page 220

3.11 ARM Control
*2
Move the cursor to the number of the desired tool, and press [SELECT] in the tool list
display. The tool coordinates display of the selected number is shown. Select the
desired number with page key
Select { DISPLAY} ) { LIST} or { DISPLAY} ) {COORDINATE DATA} under the menu
in order to switch between the tool list display and the tool coordinates display.
*3
The display can be scrolled by the cursor. The menu enters the state of a numeric
input if the cursor is on the desired item to register and the [SELECT] is pressed.
Weight
Center of
Gravity
Position
Inertia Moment at
Center of Gravity
*4
The input value is registered. The servo power is automatically turned off when editing
the value during the servo power turned on, and the message "Servo off by changing
data " is displayed for three seconds.
in the tool coordinates display.
D A T A
E D I T D I S P L A Y
T O O L
TOOL NO. : 00
N A M E : T O A C H 1
X 0.000 mm Rx
Y 0.000 mm Ry
Z 0.000 mm Rz
W 0.000 kg
Xg 0 . 0 0 0 m m
!
D A T A E D I T D I S P L A Y
T O O L
TOOL NO. : 0 0
W 0.000 kg
Xg 0.000 mm
Yg 0.000 mm
Zg 0.000 mm
Ix 0.000 kg.m2
Iy 0.000 kg.m2
!
3-62
U T I L I T Y
L I S T
0.00 deg.
0.00 deg.
0.00 deg.
U T I L I T Y
L
R1 C S