YASKAWA NX100 Instructions Manual page 100

8.4 ARM Control
S-head payload
Set the weight and the center of gravity position roughly when the equipment such as trans-
former is installed at the S-head.
It is not necessary to set these values when there is no installed load on the S-head.
WEIGHT (unit: kg)
The weight of the installed load is set.
It is not required to set a correct value, however, it is recommended to set a value slightly
larger than the actual load. (Round up the value with each fraction between 0.5 to 1 kg.)
X (From S-Axis), Y (From S-Axis) (unit: mm)
The center of gravity position of the installed load is set by the distance in the direction of X
and the direction of Y from S axis center here. It can be set with a rough value.
The direction of X and Y applies to the robot coordinates. The value is set by a negative num-
ber when the position is in "-" direction.
U-arm payload
Set the weight and the center of gravity position roughly when the equipment such as the wire
supplying motors is installed on U arm.
A standard value is set when shipping from the factory.
Set the weight in "0" if there is no installing equipment on U arm.
WEIGHT (unit: kg)
The weight of the installing load is set here.
Set a little large value though it does not care by a rough value. (Rase to a unit in each 0.5 to
1kg)
X (From U-Axis), HEIGHT (From U-Axis) (unit: mm)
The center of gravity position of the installing load is set here. It does not care by a rough
value.
X (From U-Axis) is horizontal distance from U axis rotation center to the center of gravity posi-
tion of the load. Set negative number when there is mass side in the back from U-axis rotation
center.
HEIGHT (From U-Axis) is height of the vertical direction from U-axis rotation center to the cen-
ter of gravity position of the load.
S axis center
-Y
Load on the S-head (Top View)
8-34
-X
+Y
(X position, Y position)
+X