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coordinate to the flange. Meanwhile, it is able to set up the gravity center location
and weight. For quickly swapping to the correct coordinate from coordinate list,
multiple tools coordinate can be saved.
It is straightforward to calculate the load gravity center by robot. During the
calculation, the robot 4, 5, and 6 axis rotate automatically following the algorithm
has been developed. The rotation range for axis 6 is from -90°to +90°. After the
necessary rotation, the axis 6 will rotate to origin, which is 0 deg. Therefore, the
axis 4 and axis 5 will rotate follow by the same algorithm. Before the calculation
and any rotation, safety is priority, and hazards need to be evaluated.
The “auto recognize load” function, system helps user to calculate the tool’s load
center. This center parameter can help improve force control performance.
“TCP calibration” function can help user calculate the tool end position. Select the
calibration method (4 points or 6 points) and move the robot follow the
instructions.
