What Is The Automatic Measurement Of The Tool Load And The Cen- Ter Of Gravity - YASKAWA NX100 Instructions Manual

8.3 Tool Data Setting
8.3.3
Automatic Measurement of the Tool Load and the
Center of Gravity
What is the Automatic Measurement of the Tool Load and the Cen-
ter of Gravity?
With this function, the user can register the load of tool and the position of the tools center of
gravity.
The tool load and the position of it's center of gravity are measured and registered in a tool
file.
NOTE
This function can be used where the manipulator is installed level on the ground.
For the conditions required for manipulator installation, refer to "8.4 ARM Control".
Measurement of the Tool Load and the Center of Gravity
To measure the tool load and the center of gravity, move the manipulator to its home position
(horizontal to the U-, B- and R-axes) and operate the U-, B- and T-axes.
L-axis
S-axis
NOTE
To correctly measure the tool load or the center of gravity, remove the cables or wires con-
nected to the tool.
U-axis
U+
R-axis
B-axis
B+
U-
B-
T-
Zero-degree Installation on the Ground
8-28
T-axis
T+
Home Position
(Horizontal to the U-,
B- and R-axes)