viii
3.9
Tool Data Setting
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3.9.1
Registering Tool Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
"
Number of Tool Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
"
Registering Coordinate Data . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
"
Registering Tool Pose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34
"
Setting the Tool Load Information . . . . . . . . . . . . . . . . . . . . . . . 3-35
3.9.2
Tool Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
"
Tool Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
"
Teaching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36
"
Clearing Calibration Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39
"
Checking the Tool Center Point . . . . . . . . . . . . . . . . . . . . . . . . . 3-40
3.9.3
Automatic Measurement of the Tool Load and the Center of Gravity 3-41
"
What is the Automatic Measurement of the
Tool Load and the Center of Gravity? . . . . . . . . . . . . . . . . . . . 3-41
"
Measurement of the Tool Load and the Center of Gravity . . . . . 3-41
3.10
User Coordinates Setting
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3.10.1
User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
"
Definition of User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
"
User Coordinates File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45
3.10.2
User Coordinates Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46
"
Selecting User Coordinates File. . . . . . . . . . . . . . . . . . . . . . . . . 3-46
"
Teaching User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-47
"
Clearing User Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48
3.11
ARM Control
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
3.11.1
ARM Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
3.11.2
ARM CONTROL Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-49
"
Robot Setup Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
"
Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-52
3.11.3
Tool Load Information Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-53
"
Tool Load Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-54
"
How to Calculate Tool Load Information . . . . . . . . . . . . . . . . . . 3-54
"
Tool load Information registering . . . . . . . . . . . . . . . . . . . . . . . . 3-61
3.12
Shock Detection Function
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-64
3.12.1
Shock Detection Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-64
3.12.2
Shock Detection Function Setting . . . . . . . . . . . . . . . . . . . . . . . . . 3-64
"
Shock Detection Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . 3-64
"
Tool load Information Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-67
"
Instruction of Shock Detection Function. . . . . . . . . . . . . . . . . . . 3-68
"
Reset Shock detected . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-73
3.12.3
Alarm List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-74
3.13
Instruction Level Setting
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-75
3.13.1
Setting Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-75
"
Instruction Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-75
"
Learning Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-76
3.13.2
Setting Instruction Set Level Operation . . . . . . . . . . . . . . . . . . . . . 3-76
Summary of Contents for PX2750
Page 2: ......
Page 4: ...PX2850 PX2750 Manipulator Manual ii MOTOMAN NOTES...
Page 20: ...viii...
Page 24: ...xii...
Page 40: ...1 7 Notes on MOTOMAN Disposal 1 16...
Page 58: ...4 3 Connection Methods 4 12...
Page 66: ...6 1 Movement of the Axes 6 4...
Page 72: ...8 2...
Page 73: ......
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Page 282: ...2 8 General I O Signal Assignment 2 72...
Page 318: ...4 4 Recommended Spare Parts 4 30...
Page 333: ...xiv...
Page 334: ...Setup Diagnosis...
Page 335: ......
Page 337: ...1 2...
Page 345: ...2 1 Protection Through Security Mode Settings 2 8...
Page 443: ...3 17 File Initialize 3 98...
Page 465: ...4 2 Addition of Base and Station Axis 4 22...
Page 483: ...5 6 Position Data When Power is Turned ON OFF 5 18...
Page 484: ...Hardware...
Page 485: ......
Page 495: ...6 4 Equipment Configuration 6 10...
Page 497: ...7 2...
Page 505: ...8 8 Open Phase Check 8 8...
Page 525: ...9 4 Recommended Spare Parts 9 20...
Page 526: ...Alarm Error...
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