YASKAWA Motoman UP6 Instructions Manual page 221

• When the data setting is not done
N OT E
It is considered that data is not set correctly in tool load information in the following cases.
• When the weight (W) is "0".
• When the center of gravity position (Xg, Yg, Zg) are all "0".
In these cases, the robot is controlled by using the standard parameter value (Differ in
each robot model) which were set when shipping.
Standard Value.....Weight
payload)
In this case, when an actual tool load is not too heavy, the manipulator can't be performed
enough.
Moreover, when the tool which an actual tool center of gravity position greatly offsets in X
direction or Y direction is installed the generated moment by the tool cannot be compen-
sated.
• Switch of the tool file
In case that two or more tool files are used, Information on an effective tool file is referred
for tool load information used by the ARM control at that time in according to switch tool
file.
Set the same value of tool load information in each tool file when the tool file is switched to
change only tool center point (when neither the weight nor the center of gravity position of
the entire tool installed in the flange is changed).
Moreover, set tool load information to the corresponding tool file respectively when total
weight and the center of gravity position etc. of the tool is changed (when the system which
exchange the tool by automatic tool changer).
: W = Payload
Center of gravity position:
(Xg, Yg, Zg) =
3-63
3.11 ARM Control
(0, 0, Allowed value of B axis for rated