IAI PSEL, Operation Manual

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Actuator Control Declaration
344
(Note 1) Inputting in Operation 2 is optional. When the setting in Operation 2 is not
established, the parameters are the center of gravity in tip load X-Y = 0 and the
maximum allowable moment of inertia.
(Note 2) An error will be issued when the tip load weight exceeds the maximum
transportable weight of the robot.
(Note 3) When WGT2 Command is executed, the information for both the tip load weight
and the moment of inertia is updated.
A change to individuals such as the weight only or center of gravity in tip load and
inertia around the center of gravity only is not available.
(Note 4) Inappropriate setting of the robot tip load condition may cause vibration
(abnormal noise) or error, and also may give an impact that shortens the
mechanical life.
Establish the setting that reflects the actual mounted load.
(Note 5) For XSEL-RX/SX/RXD/SDX, GRP/BASE Commands become effective even in
WGT2 Command. Establish the setting to have all the SCARA axes valid. Error
No. C30 “Axis Pattern Error” will occur if even one axis is set invalid by GRP and
BASE Commands. When GRP and BASE Commands are undeclared, all the
axes are effective (equivalent to GRP 11111111).
[Example 1] GRP 1111 Indicates SCARA of 1
st
to 4
th
axes
LET 1001 50000 Indicates Center of gravity X in tip load =
50.000mm
LET 1002 0 Indicates Center of gravity Y in tip load =
0.000mm
LET 1003 2000 Indicates inertia around center of gravity in
load = 2000kg•mm
2
WGT2 1000 1001 For SCARA of 1
st
to 4
th
axes sets weight of
1000g and conditions of the tip load for
Variable No. 1001 to 1003
[Example 2] GRP 11110000 Indicates SCARA of 5
th
to 8
th
axes
LET 1001 20000 Indicates Center of gravity X in tip load =
20.000mm
LET 1002 20000 Indicates Center of gravity Y in tip load =
20.000mm
LET 1003 500 Indicates inertia around center of gravity in
load = 500kg•mm
2
WGT2 500 1001 SCARA of 5
th
to 8
th
axes sets weight of 500g
and conditions of the tip load for Variable No.
1001 to 1003