Yamaha RCX240 User Manual page 269

1. Tip weight [kg] /WEIGHT
This parameter sets the tip weight of robot (workpiece weight + tool weight) in kg units.
However, set the tip weight in 0.1 kg units when the currently set robot is YK120X, YK150X,
YK180X or YK220X.
The maximum value is set when the parameters are initialized.
The maximum allowable value is determined automatically according to the current robot
model.
n
NOTE
• This parameter cannot be input if the robot was set to MULTI.
• To set the auxiliary axis tip weight, use the axis tip weight settings of axis
parameters.
• When the YRG series electric gripper is used, the gripper weight must be added
to the tool weight. For details, refer to the user's manual for YRG series electric
gripper.
Select "1.Tip weight [kg]" in "SYSTEM>PARAM>ROBOT" mode.
1
Press (EDIT).
2
Select the parameter with the cursor (
3
Setting the "Tip weight [kg]"
Enter the value with
4
c
CAUTION
Factors such as optimal speed are set automatically according to this parameter
value. Setting to a weight lower than the actual axis tip weight might adversely
affect the robot body so be sure to enter a suitable value.
Press to quit the edit mode.
5
/
to and then press
12. "SYSTEM" mode
) keys.
.
Chapter 4 OPERATION
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