Yamaha RCX141, User Manual

Page: 203 / 402

4-
145
4
Operation
12. “SYSTEM” mode
1. Tip weight [kg] /WEIGHT
This parameter sets the tip weight of robot (workpiece tool weight) in kg
units. However, set the tip weight in 0.1 kg units when the currently set robot is
YK180X or YK220X.
The maximum value is set when the parameters are initialized.
The maximum allowable value is determined automatically according to the current
robot model.
[Procedure]
1) Select “1.Tip weight [kg]” in “SYSTEM>PARAM>ROBOT” mode.
2) Press the
F 1
(EDIT) key.
3) Select the parameter with the cursor (
↑
/
↓
) keys.
Fig. 4-12-6 Setting the “Tip weight [kg]”
SYSTEM >PARAM>ROBOT V8.30
1.Tip weight[kg]
MR= 5
5
[0-200] Enter>_
4) Enter the value with the
0
to
9
keys and then press the key.
5) Press the
ESC
key to quit the edit mode.
n
NOTE
• This parameter cannot be input if
the robot was set to MULTI.
• To set the auxiliary axis tip weight,
use the axis tip weight settings of
axis parameters.
c
CAUTION
Factors such as optimal speed are set
automatically according to this
parameter value. Setting to a weight
lower than the actual axis tip weight
might adversely affect the robot body
so be sure to enter a suitable value.