Toshiba TS3000 Series Instruction Manual page 99

series Robot Controller
[3] Load data
PAYLOAD
<Load name>={<mass>, <center of gravity offset in X direction>, <center of
<Load name>:
<mass>:
<center of gravity offset in X direction>:
<center of gravity offset in Y direction>:
<center of gravity offset in Z direction>:
<work size in X direction>: Magnitude of the load on the end of the robot
<work size in Y direction>: Magnitude of the load on the end of the robot
<work size in Z direction>: Magnitude of the load on the end of the robot
When the values of the mass and center-of-gravity offset are ignored, they are
taken as 0.
gravity offset in Y direction>, <center of gravity offset in Z
direction>, <work size in X direction>, <work size in Y direction>,
<work size in Z direction>}
Name of load data
Mass of hand (work) (unit: kg)
Offset of the center of gravity of the load on the
end of the robot hand from the center of the tool
axis (unit: mm)
Offset of the center of gravity of the load on the
end of the robot hand from the center of the tool
axis (unit: mm)
Offset of the center of gravity of the load on the
end of the robot hand from the center of the tool
axis (unit: mm)
hand (unit: mm)
hand (unit: mm)
hand (unit: mm)
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COMMUNICATION MANUAL
STE 80732