Nachi EZ-CFDL Series Instruction Manual

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CFD/CFDL CONTROLLER

INSTRUCTION MANUAL

SETUP MANUAL

Before attempting to operate the robot, please read through this operating manual

・

carefully, and comply with all the safety-related items and instructions in the text

The installation, operation and maintenance of this robot should be undertaken only

・

by those individuals who have attended one of our robot course

When using this robot, observe the low related with industrial robot and with

・

safety issues in each country.

This operating manual must be given without fail to the individual who will be actually

・

operating the robot

. .

Please direct any queries about parts of this operating manual which may not be

・

completely clear or any inquiries concerning the after-sale service of this robot to any

of the service centers listed on the back cover.

6th edition

1612, TCFEN-159-006, 001

. .

Summary of Contents for Nachi EZ-CFDL Series

Page 1 1612, TCFEN-159-006, 001 1612, TCFEN-159-006, 001 CFD/CFDL CONTROLLER CFD/CFDL CONTROLLER INSTRUCTION MANUAL INSTRUCTION MANUAL SETUP MANUAL SETUP MANUAL 6th edition 6th edition Before attempting to operate the robot, please read through this operating manual Before attempting to operate the robot, please read through this operating manual ・...
Page 3 Table of Contents For EZ-CFDL series For EZ-CFDL series In case of the EZ-CFDL ser In case of the EZ-CFDL series, please read the chapter 8 ies, please read the chapter 8 first. first. IMPORTANT IMPORTANT Some setup procedures are not the same with other robot Some setup procedures are not the same with other robot series.
Page 4 Table of Contents Table of Contents 2.8.7 2.8.7 Emergency stop output conne Emergency stop output connection (TBEX2 : 1-2, 3-4)............ction (TBEX2 : 1-2, 3-4)............2-20 2-20 Chapter 3 Chapter 3 Setup Setup How to read “Chapter 3 Se How to read “Ch apter 3 Setup”...
Page 5 Table of Contents 3.14 User coordinate system ......................... 3-75 3.14.1 Setting example ........................3-75 3.14.2 Stationary tool ..........................3-80 3.15 How to copy the soft-key settings between the controllers............3-83 3.15.1 Exporting the setting file ......................3-83 3.15.2 Importing the setting file......................3-85 3.16 Operation condition ........................
Page 6 Simultaneous control and Synchronization control (Synchro-motion)........7-13 7.3.4 What is the “Operation standard mechanism”?...............7-14 7.3.5 What is the “Speed standard mechanism”? ................7-14 Chapter 8. Setup procedure for EZ-CFDL series Combinations of CFDL controller and EZ series................8-1 8.1.1 Combination patterns......................... 8-1 8.1.2 (A) “CFDL1-0000”...
Page 7 Table of Contents 8.2.2 Installation procedure and place....................8-4 Installation of the Robot (EZ series)....................8-5 Connection of the robot........................8-6 8.4.1 (A) “CFDL1-0000” + One Robot ....................8-6 8.4.2 (B) “CFDL2-0000” + Two Robots....................8-6 8.4.3 (C) “CFDL4-0000” + Four robots ....................8-7 8.4.4 (D) “CFDL4-0020”...
Page 8 Table of Contents NOTE...
Page 9 Chapter 1 Point on Safety This chapter explains the safety precautions to be observed when handling the robot system. This section describes general precautions and procedures on safety but does not show all of the safety measures. Therefore, it is necessary for customers to prepare yourself a safety control standard including your own operational regulations in accordance with the actual working environment and to conduct safety control in order to secure the operators' safety.
Page 10 ぺージあわせのため白文字（白文字のため印刷されないなので気にしないでください。削除しないでください。）...
Page 11 1.1 For safely use the robot 1.1 For safely use the robot system Before using a robot system, read this manual and all other attached documents carefully, and make sure you understand the correct information on the equipment and safety precautions. 1.1.1 Symbols used in all instruction manuals Safety information to prevent the injury to personnel and/or damage to equipment is classified...
Page 12 3.4Encoder reset and encoder correction Encoder Correction procedure 3.4.2 Upon completion of the encoder resetting, proceed with the encoder correction. Press f9 <Encoder Correct>. >> The screen which appeared immediately after [3 Machine Constants] [4 Encoder Correction] were selected is restored. Either "Data Input"...
Page 13 3.4Encoder reset and encoder correction The "Position Record" method is described here. Press f8 <Record Position>. >>The screen now changes. After confirming that the axis is mechanically aligned to the reference position, align the cursor with the axis whose encoder is to be corrected, and press [Enter] followed by [REC].
Page 14 3.4Encoder reset and encoder correction Inserting position of Axis 1 zeroing pin Axis 5 zeroing pin Inserting position of Axis 5 zeroing pin Inserting position of Axis 3 zeroing pin Axis 3 zeroing pin Axis 6 zeroing block Inserting position of Axis 2 zeroing pin Axis 4 zeroing block Axis 2 zeroing pin...
Page 15 3.5 Tool constant settings Tool constant settings The “tool constants” refer to a set of parameters including the length, angle, center of gravity, weight and moment of inertia of the installed tool. These parameters are extremely important for ensuring precise linear operations and appropriate acceleration/deceleration control.
Page 16 3.5 Tool constant settings Common operating procedure for setting tool constants (With the exception of the tool weight, all of the tool constants are set on the same screen shown below.) Select the teach mode. Select <Constant Setting>- [3 Machine constants] - [1 Tool constants]. >>The tool constant input screen resembling the one shown below now appears.
Page 17 3.5 Tool constant settings Tool length 3.5.2 Wrist coordinate Coordinate system system defined on tool installation surface Tool tip Tool length (X component) The operations involved will be facilitated if the Tool length upward direction of the tool is set as t he Z (up) (Z component) direction and its forward direction is set as the X (forward) direction since these are the...
Page 18 3.5 Tool constant settings Setting the tool length manually (numerical value input) If the tool tip coordinates based on the wrist coordinate system is known, please input the values following this procedure. Select the teach mode. Open <Constant Setting> - [3 Machine Constants] [1 Tool Constants]. Input the tool tip position based on the wrist coordinate system.
Page 19 3.5 Tool constant settings Tool length setting example (1) In this example, the center point of the gripper is used as the TCP (Tool Center Point). Wrist coordinate system The origin (0,0,0) of the Wrist Coordinate System is the flange center point. For details, see P4-4.
Page 20 3.5 Tool constant settings Tool length setting example (2) In this example, the center point of the deburring tool is used as the TCP (Tool Center Point). Wrist coordinate system The origin (0,0,0) of the Wrist Coordinate System is the flange center point.
Page 21 3.5 Tool constant settings Setting the tool length automatically Although one program for calculating the tool length must be taught, the tool length can then be set automatically simply by taking this preparatory step. It does not matter whether the tool angle has already been set or not. First, the programs for setting the tool length automatically must be taught.
Page 22 3.5 Tool constant settings The tool length is calculated, and the results appear as follows a few moments later. >>The maximum error expresses the accuracy of the tool length which has been calculated. The lower the value here, the higher the resulting accuracy of the tool length which has been calculated.
Page 23 3.5 Tool constant settings Tool Length Automatic Setting (2-point tool length setting) In order to easily set a new tool length when the shape of a tool is deformed, 2-point tool length setting function is prepared. In the case where the torch interferes during operation, or the torch is changed with a new one, be sure to use this function.
Page 24 3.5 Tool constant settings Input the program of the reference point after conversion, the program number prepared in step 2, and the step number in the same manner as in the above 5 and 6. Press <Execute> key. The tool length is calculated, and after a while, the result is displayed as shown below.
Page 25 3.5 Tool constant settings Tool angle 3.5.3 The operations involved will be facilitated if the upward direction of the tool is set as the Z (up) direction and its forward direction is set as the X (forward) direction since these are the directions used with the robot coordinates.
Page 26 3.5 Tool constant settings As per the guide picture, visually align the upward direction of the tool with the Z (up) direction of the robot and its forward direction with the X (forward) direction of the robot. (Example) Tool coordinate system Parallel Machine coordinate...
Page 27 3.5 Tool constant settings Center of gravity (COG) and weight of tool 3.5.4 The tool center of gravity (COG) and weight are parameters required to exercise the appropriate acceleration/deceleration control. After installing all the tools, arm loads, etc., it is absolutely necessary to set the tool CAUTION center of gravity and weight.
Page 28 3.5 Tool constant settings First, align the cursor with the program No., input here the number of a program which is not currently being used, and press the [Enter] key. >>This is the number of the program which will now be created for automatically setting the center of gravity (COG) and weight of tool.
Page 29 3.5 Tool constant settings Align the cursor with the Pose 1 field, and press the [Enter] key and [O.WRITE/ REC] key. >>The first posture (Pose 1) is now registered. The angle data loaded for the axes is displayed as shown below. Next, make a major change to the posture.
Page 30 3.5 Tool constant settings First, record the program in which two positions are included. The same precautions described above apply to the robot positions and postures. The interpolation type, speed, accuracy, tool numbers, etc. may be disregarded at this point. Only the positions are referenced. Press the f8 <Refer>...
Page 31 3.5 Tool constant settings >>The screen for executing the automatic tool COG setting such as the one shown below appears. Input the number of the program for measuring the center of gravity (COG) and weight of tool in the “Program” item. Input the tool number (1 to 32) to be measured in the “Tool No.”...
Page 32 3.10 Setting the application type 3.10 Setting the application type Align the cursor with "Usage1" or "Usage2", and press [Enter] key. Align the cursor with "Usage1" or "Usage2", and press [Enter] key. If, for example, the robot is also to be used for a spot welding application, select If, for example, the robot is also to be used for a spot welding application, select [Spot Welding] for "Usage1"...
Page 33 3.11 Setting the 1 Setting the [CLAMP / ARC] key [CLAMP / ARC] key 3.11 3.11 Setting Setting [CLAMP [CLAMP ARC] ARC] Any one Any one of the of the following functions following functions can be can be set for set for the [CLAMP/ARC] key of the hardware keys of the the [CLAMP/ARC] key of the hardware keys of the...
Page 34 3.11 Setting the [CLAMP / ARC] key 3.11 Setting the [CLAMP / ARC] key • The same signal cannot be input for both signal 1 and signal 2. • The same signal cannot be input for both signal 1 and signal 2. •...
Page 35 3.12 Setting the software limit (operating range) 3.12 Setting the software limit (operating range) 3.12 3.12 Setting Setting software software limit limit (operating (operating range) range) Outline Outline 3.12.1 3.12.1 The software limit (operating range) is set to the maximum operating range prior to shipment from the factory. The software limit (operating range) is set to the maximum operating range prior to shipment from the factory.
Page 36 3.12 Setting the software limit (operating range) [Position record] screen settings 3.12.2 Operate the robot to move each of its axes manually and set the software limit values. The operator needs to have the EXPERT qualification set to perform this operation. Select <Constant Setting>...
Page 37 3.13 User defined error 3.13 User defined error It is possible to define an error message and this error can be displayed on the teach pendant screen using input signal. The content of the message can be edited. Setting procedure Open <Service Utilities>...
Page 38 3.13User defined error Item Description This is the error number. (7001 to 7200) INFO. If the system software version is less than FDV03.21, Failure code the setting range is from 7001 to 7099. Input Signal This is the trigger signal (input signal) to display the error. (0 to 2048) Select the type of the error (Error / Alarm / Information) Failure Type For details, refer to the following manual.
Page 39 3.15How to copy the soft-key settings between the controllers 3.16 Operation condition Operation condition 3.16.1 Normally, it is not necessary to change the settings in this screen. Setting procedure Open <Constant Setting> - [5 Operation Constants] [1 Operation condition]. Change the setting for the respective items. ＋...
Page 40 3.17Setting the “Playback speed limit” 3.17 Setting the “Playback speed limit” It is possible to limit t he maximum speed of the TCP (Tool Center Point) in the playback mode or the check go operation. While this function is enabled, the robot cannot exceed the limit speed in spite of the recorded speed of the step data.
Page 41 3.17Setting the “Playback speed limit” How to change the password 3.17.2 The password can be changed. Setting procedure Open <Constant Setting> - [3 Machine Constants] [36 Playback speed limit]. Touch the “New Password”. Enter the Current password and the New password. - For the password, numbers of 8 digits or less and “+”...
Page 42 3.18Position resume setting 3.18Position resume setting Position recovery at Servo ON Position recovery at Servo ON 3.18.2 3.18.2 The posture at the position on the command path when the motor power is turned off is stored in the memory, The posture at the position on the command path when the motor power is turned off is stored in the memory, and the robot is automatically moved to return to that posture when the motor power is turned back on.
Page 43 3.19Collision detection command 3.19Collision detection command 3.19 3.19 Collision Collision detection detection command command Outline Outline 3.19.1 3.19.1 Normally Normally, the , the application commands (FN) will be executed after application commands (FN) will be executed after reaching the recorded position of reaching the recorded position of the step data.
Page 44 3.19Collision detection command 3.19Collision detection command Settings for the conditions for the Collision detection Settings for the conditions for the Collision detection 3.19.3 3.19.3 To use this function, the following setting is necessary. To use this function, the following setting is necessary. Select the operator class Select the operator class EXPERT ...
Page 45 3.19Collision detection command 3.19Collision detection command Application command “FN31 COLDET” Application command “FN31 COLDET” 3.19.4 3.19.4 To use this function, sandwich the area in which the collision detection is used with this function “FN31 To use this function, sandwich the area in which the collision detection is used with this function “FN31 COLDET”.
Page 46 3.19Collision detection command Collision torque monitor 3.19.6 To use this monitor window, select the operator class EXPERT or higher in advance. (Please use the Shortcut R314) Open <Monitor2> - [74 Collision torque monitor]. The collision torque parameters calculated for every servo control interpolation cycle are displayed.
Page 47 3.20 User help function 3.20 User help function Outline 3.20.1 The “User help” is a function to display the image files created by users on the teach pendant screen. It is possible to register the image files ( BMP / JPEG / GIF ) up to 100 files (Examples of pictures) - Program start procedures - Precautions about the robot...
Page 48 3.20 User help function How to register the image file 3.20.3 For this setting operation, SPECIALIST is necessary as the operator level. Change the operator level using the Shortcut command R314 in advance. (The initial parameter is “12345”) To register an image for this function, please follow this setting procedures. Operating procedure Open <Constant Setting>...
Page 49 3.20 User help function 3.20.4 How to display the user help image To display the user help image, it is necessary to assign the user help function to the software-key in advance. “USER HELP” software-key (CODE is 2520) In this case, as an example, let’s assign the software-key in the Teach mode. (However, the User Help software-key can be assigned both for the Teach mode and the Playback mode) Operating procedure Press <f Key Entry>...
Page 50 4.1 Home position registration Home position registration by manual recording 4.1.3 This method is used to record the home position directly without referencing the program. Operate the robot to set it. The home position registration is not changed in tandem with any modifications made by teaching, and the absolute position is now registered.
Page 51 4.1Home position registration Home position registration by numeric input 4.1.4 This method is used to record the home position directly without referencing the program. Key in the position data directly from the teach pendant. The home position registration is not changed in tandem with any modifications made by teaching, and the absolute position is now registered.
Page 52 4.2 Registering Start Enable Area 4.2 Registering Start Enable Area This function enables to register the safe position to start the robot (Start enable area), which restricts the start if the robot is not within the specified area. The difference from the home position registration system is that robot controller itself can confine the robot start.
Page 53 4.2 Registering Start Enable Area For the rotation axis, specify the area within the range of -999.0 999.0 For the slide axis, -9999.9mm 9999.9mm The axis, of which both “Max.” and “Min.” have been set at 0.0, is not to be checked whether it is in the start enable area or not.
Page 54 4.4Interference Territory registration 4.4Interference Territory registration Interference Interference erritory erritory registration registration In case that robot operating envelop overlaps with another In case that robot operating envelop overlaps with another robot because they are installed so closely, robot robot because they are installed so closely, robot will collide each other when they run into the will collide each other when they run into the overlapping area at the same time.
Page 55 4.4Interference Territory registration 4.4Interference Territory registration Align the cursor with "Area Definition," and press the [ENABLE] and left or right Align the cursor with "Area Definition," and press the [ENABLE] and left or right cursor keys together to set the radio button to "Defined." cursor keys together to set the radio button to "Defined."...
Page 56 4.4Interference Territory registration 4.4Interference Territory registration Press the <Complete> f key. Press the <Complete> f key. This now completes the settings. This now completes the settings. If plural interference territories need to be defined, switch the screen by If plural interference territories need to be defined, switch the screen by pressing [Prev No] or [Next pressing [Prev No] or [Next No] key and continue the No] key and continue the registration procedure.
Page 57 4.4Interference Territory registration 4.4Interference Territory registration Utilizing Utilizing the Interference the Interference T T erritory erritory 4.4.2 4.4.2 Special function is unnecessary to be recorded to check the interference of Special function is unnecessary to be recorded to check the interference of robot. robot.
Page 58 4.4Interference Territory registration NOTE...
Page 60 5.1Outline 5.1Outline 5.1 Outline 5.1 Outline 5.1.1 5.1.1 Outline Outline To use the Ethernet function enables various files to be transferred between this controller and the other To use the Ethernet function enables various files to be transferred between this controller and the other nodes (such as PC) on the network using FTP (File Transfer Protocol).
Page 61 5.1Outline 5.1Outline 5.1.3 5.1.3 Connection Connection of of Ethernet Ethernet cable cable Connect the PC and the LAN port of this robot controller using Ethernet cable. Connect the PC and the LAN port of this robot controller using Ethernet cable. Both of cross cable and straight cable are Both of cross cable and straight cable are available.
Page 62 5.2Ethernet setting 5.2Ethernet setting Ethernet Ethernet setting setting The Ethernet menu has following functions that The Ethernet menu has following functions that are set in the are set in the teaching mode / constant setting menu. teaching mode / constant setting menu. This important setting shall be This important setting shall be done by customer network administrator.
Page 63 5.2Ethernet setting Table 5.2.2 TCP/IP setting Parameter Description DHCP client Sets whether to use [DHCP client function] of this controller. When "Enabled" is selected, this controller sends DHCP requirement to the network at the time of power ON. When the DHCP host on the network responds, IP address, subnet mask, default gateway, and three or less DNS IP address are set automatically.
Page 64 5.2Ethernet setting 5.2.2 FTP setting FTP Settings Select <Constant setting> – 8 Communication] – [2. Ethernet] – [3 FTP]. [ >> Following setting screen will appear. Set the required parameter referring to " Table 5.2.3 FTP setting ". When the setting is completed, press f12 <Complete>. To enable the new settings, restore the power of the robot controller.
Page 65 5.2Ethernet setting Registrations of Users that Admit to Login Press f10<Registration of user name> on the FTP setting screen. >> The “Registration of FTP user" screen shown below appears. Point the cursor with “User name” and input the user name which is admitted ＋...
Page 66 5.3File transfer (FTP client) 5.3 File transfer (FTP client) Files are transferred using the operation menu of this controller. This controller works as an FTP client (the node to start the FTP requirement). To use FTP client function, Ethernet Setting such as TCP/IP and FTP shall be completed beforehand.
Page 67 5.4File transfer (FTP server) 5.4 File transfer (FTP server) Files are transferred from FTP client software operating on some other node as described below. This controller works as an FTP server (host). No operation is especially required at this controller. Files can be transferred even while playback operation. To use the FTP server function, Ethernet setting such as TCP/IP or FTP shall be completed beforehand.
Page 68 5.4File transfer (FTP server) NOTE...
Page 69 Chapter 6 Initial setting with Compact TP This chapter describes the setup operations using the Compact Teach Pendant. For the setup operations that are not available in case of Compact TP, please refer to the other chapters. (In that case, “FD on Desk Light” i s necessary.) 6.1 Setup of the robot..
Page 71 7.3 Supplemental items 7.3.3 Simultaneous control and Synchronization control (Synchro-motion) If the Synchro-motion function is enabled, the following 2 types of movement command can be used. Please be sure that the motion path and the posture of the robot will change when “H” is set to ON or OFF. (NOTE) In both cases, the shortcut motion is based on the “Spped Piling Rate”...
Page 72 7.3 Supplemental items 7.3.4 What is the “Operation standard mechanism”? The “Operation standard mechanism” is the mechanism that is regarded as the position reference mechanism (Master mechanism) while executing the synchromotion. The other mechanisms (Slave mechanisms) in the same UNIT will be controlled by following the motion of the master mechanism. See the following instruction manual also.
Page 73 Chapter 8. Setup procedure for EZ-CFDL series This chapter describes the setup procedure for the EZ-CFDL series. 8.1 Combinations of CFDL controller and EZ series ........8-1 8.1.1 Combination patterns................8-1 8.1.2 (A) “CFDL1-0000” + One Robot............8-2 8.1.3 (B) “CFDL2-0000” + Two robots............8-2 8.1.4...
Page 74: Table Of Contents
8.10 Installation of the tool ................8 -25 8.10.1 Installation of the tool ..............8 -25 8.11 Encoder reset and encoder correction ...........8-26 8.12 Setting of the Tool Constant ..............8 -27 8.12.1 Tool length..................8-27 8.12.2 Tool angle..................8-29 8.12.3 Tool COG/ Mass............
Page 75 8.1 Combinations of CFDL controller and EZ series 8.1.4 (C) “CFDL4-0000” + Four robots Below shows the relationship between the number of the sequence board and the number of the back connector at “CFDL4 ＋ Four robots”. Slot for option x1 Sequence board 4 Sequence board 3 Sequence board 2...
Page 76 8.2 Installation of the CFDL Controller 8.2 Installation of the CFDL Controller 8.2.1 Ambient condition The condition of CFDL controller is same as CFD controller. Please refer to “2.2.1 Ambient condition”. 8.2.2 Installation procedure and place (1) Make sure to install the intake and exhaust port 200mm or more away from the wall. (2) Install the controller so that the height of power switch from work floor will be 0.6m to 1.9m.
Page 77: Installation Of The Tool
8.3 Installation of the Robot (EZ series) 8.3 Installation of the Robot (EZ series) Please refer to below instruction or “2.3 Installation of the robot” regarding with the installation condition. “Standard specification EZ03V4-02 / EZ03F4-02 / EZ02V6-02 / EZ02F6-02 」 (SEZEN-093)
Page 78 8.4 Connection of the robot 8.4 Connection of the robot There is possibility of electric shock, so when performing the wiring work make sure to turn OFF the power of the robot’s controller and remove the connector of the primary power side. WARNING Make sure to match the robot number (#1 to #4) and CFDL connector number (#1 to #4).
Page 79: 8.12 Setting Of The Tool Constant
8.12 Setting of the Tool Constant 8.12.2 Tool angle Referring to the plan of the tool set the installation angle of the tool. (Direction of the tool coordinate system) Unit is [deg]. Rotation order is Z → Y → X. Setting example In case of desiring to put the direction of the “Machine coordinate system (Base coordinate system)”...
Page 80: Tool Cog/ Mass
8.12 Setting of the Tool Constant 8.12.3 Tool COG/ Mass Referring to the plan of the tool set the tool COG and Weight. The unit is [mm] and [kg]. It is possible to manually input the numeric value below with operator qualification ...
Page 81 8.12 Setting of the Tool Constant (Reference) Examples of the torque map Rated condition Maximum condition *1 【 EZ03V4-02-4525 】【 EZ03V4-02-4515 】【 EZ03F4-02-5525 】【 EZ03F4-02-5515 】【 EZ02V6-02-4525 】【 EZ02V6-02-4515 】【 EZ02F6-02-5525 】【 EZ02F6-02-5515 】 *1: Speed and the acceleration are automatically controlled.
Page 82: Tool Inertia Moment
8.12 Setting of the Tool Constant 8.12.4 Tool inertia moment Set the inertia moment of the tool (wrist load). The unit is [kg ・ m Please refer to the standard specification for the calculation method. → “Standard Specification EZ03V4-02/EZ03F4-02 EZ02V6-02/EZ02F6-02 」（ SEZEN-093 ） This setting is for adjusting the speed automatically so that the more than allowable value of inertia moment does not occur during the robot operates by referring at the input numeric value beforehand.
Page 84 Phone +81-76-423-5137 +81-76-493-5252 NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document may be modified without notice. Any missing page or erratic pagination in this document will be replaced.

Nachi EZ-CFDL Series Instruction Manual

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Summary of Contents for Nachi EZ-CFDL Series

Page 74: Table Of Contents

Page 77: Installation Of The Tool

Page 79: 8.12 Setting Of The Tool Constant

Page 80: Tool Cog/ Mass

Page 82: Tool Inertia Moment