Nachi EZ-CFDL Series, Instruction Manual

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3.5 Tool constant settings
3.5.4
Center of gravity (COG) and weight of tool
CAUTION
The tool center of gravity (COG) and weight are parameters required to exercise
the appropriate acceleration/deceleration control.
After installing all the tools, arm loads, etc., it is absolutely necessary to set the tool
center of gravity and weight.
The tool weight cannot be input manually on the tool constant setting screen. This is to avoid the danger of
seriously damaging the machine which would result if a weight which is considerably different from the actual
weight were to have been set by mistake. At the factory, the value of the rated conveyable weight was set.
(The tool center of gravity can be input.)
Therefore, this controller can automatically calculate the correct values for the center of gravity (COG) and
weight of tool. Use this convenient function to set the center of gravity (COG) and weight of tool.
For the
tool center of gravity and weight setting function
described next to be used, the basic teaching
and playback check jobs must be performed. Since these jobs cannot be done if the Basic Operations Manual
has not yet been read, do not set the center of gravity (COG) and weight of tool but use the initial settings as is
and continue until the end of the setup is reached.
After reading the Basic Operations Manual, proceed with these settings again without fail.
Setting the center of gravity (COG) and weight of tool automatically
Operate the robot in a predetermined manner, calculate the torque generated from the current at this time,
and use the measured value as a basis to calculate the center of gravity (COG) and weight of tool. Although
one program for sampling the current must be taught, the center of gravity (COG) and weight of tool can then
be set simply by playing back the program.
For this procedure, the operator must be qualified as an EXPERT or above.
page3-51
『
3.7Concerning the qualifications of the operators
』
(1)
Create the program for measuring the center of gravity (COG) and weight of tool
1 Select the TEACH mode.
2 First, the program for the center of gravity (COG) and weight of tool setting
function must be taught. Select [Automatic COG Setting] from <Service
Utilities>.
>>An automatic center of gravity setting screen such as the one shown below now
appears.
3 Select [Program creation] from the menu items.
>>The program creation screen for the auto tool load center setting such as the one
shown below now appears.