Nachi EZ-CFDL Series, Instruction Manual

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3.5 Tool constant settings
3.5 Tool constant settings
The “tool constants” refer to a set of parameters including the length, angle, center of gravity, weight and
moment of inertia of the installed tool. These parameters are extremely important for ensuring precise linear
operations and appropriate acceleration/deceleration control. Before moving the robot, read carefully through
the instructions in this section and take the steps described without fail. Tool constants for up to 32 tools can be
stored in this controller’s memory. If an application involves the use of a multiple number of tools, perform the
settings for all the tools concerned.
CAUTION
Continued use under the wrong settings for the center of gravity, weight and tool’s
moment of inertia may fatally damage the machine. Perform the settings set forth in this
section without fail.
The settings must be performed even for small and/or lightweight tools. The same
settings used for a large tool cannot be used for a small tool.
Table 3.5.1 Tool constants
Name
This constant is the length up to the tool tip in the TCP coordinate system (X, Y
and Z components of the tool tip). It is absolutely necessary in order to ensure
precise linear movements.
When the
tool length automatic setting function is used, the tool length can
be ascertained automatically using the already created program.
Length
Angle
Center of gravity
(COG)
And weight
Moment of inertia
Maximum rotation
radius
This constant is for setting the inclination of the tool tip in the TCP coordinate
system using the X, Y and Z axis rotation components. It proves useful since,
when teaching, the tool can be operated manually in the direction in which it is
pointing. When the
tool angle simple setting function is used, the tool angle
can be s et easily.
This constant is for setting the tool's center of gravity position in the TCP
coordinate system and its weight. It is required in order to ensure appropriate
acceleration/deceleration control.
The constant is set using the
tool center of gravity (COG) and weight
automatic setting function . (The weight of a tool cannot be input manually.)
MANDATORY
MANDATORY
MANDATORY
MANDATORY
A name can be set for ea ch of the tools. A tool name may consist of not more
than 16 alphanumerics and symbols. (Japanese characters cannot be used.)
This constant is for setting the moment of inertia around the center of gravity in
the TCP
coordinate system using the X, Y and Z components. It must be set if the
moment of inertia has exceeded the allowable value.
When the
tool moment of inertia simple setting function is used, the
moment of inertia can be set easily by designating the tool shape.
This constant is the max. radius of the tool. It is used to check the territory, etc.
Tool constants