YASKAWA NX100 Instructions Manual page 96

8.3 Tool Data Setting
Operation
5 Select {W.GRAV.POS MEA-
SURE}.
6
Press the page key
7
Press [FWD].
8 Press [FWD] again.
(Continued on the next page.)
The window for the automatic measurement of the tool load and
the center of gravity is shown.
DATA
W.GRAV.POS MEASURE
TOOL NO. : 00
R2 :
Main Menu
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In a system with several manipulators, use the page key
.
PAGE
to change the group to be controlled.
Press [FWD] once, and the manipulator moves to the home posi-
tion (horizontal to the U-, B- and R-axes).
Press [FWD] again, and measurement starts. Keep the button
pressed until measurement is completed. The manipulator
moves in the order listed below. Once measurement is com-
pleted, " "changes to " ".
Measurement of the U-axis: U-axis home position +4.5
degrees
Measurement of the B-axis: B-axis home position +4.5
degrees
First measurement of the T-axis: T-axis home position +4.5
degrees
Second measurement of the T-axis: T-axis home position +60
degrees
• The speed during measurement automatically
NOTE
• During the measurement, "HOME" or "U" blinks on
• During the measurement, the [FWD] button has to
8-30
Explanation
EDIT DISPLAY UTILITY
LOAD SETTING ON U-ARM NOT CONSIDER
.
W kg <STATUS>
:
HOME
. mm :
Xg U
:
Yg . mm B
. mm :
Zg T(1)
:
T(2)
COMPLETE CANCEL
Short Cut
-4.5 degrees
-4.5 degrees
-4.5 degrees
+4.5 degrees -4.5 degrees
changes to "Medium".
the screen.
be kept pressed. If the button is released during
the measurement or if it is released before
" "changes into " ", the measurement is aborted
and the following message appears:
"Stopped measurement"
The measurement starts again from the first home
position.
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