YASKAWA Motoman UP6, Instructions Manual

Page: 201 / 561

3.9 Tool Data Setting
3-43
*2
Move the cursor to the desired number in the tool list and press [SELECT]. The tool
coordinates of the selected number is shown. In the tool coordinates, change the
desired number by pressing the page key . To alternate between the tool list and
the tool coordinates, select {DISPLAY} and {LIST}, or {DISPLAY} and {COORDINATE
VALUE} under the menu.
*3
The display for the automatic measurement of the tool load and the center of gravity is
shown.
*4
In a system with several manipulators or stations, use the page key to change
the group to be controlled.
*5
Press [NEXT] once, and the manipulator moves to the home position (horizontal to the
U-, B- and R-axes).
*6
Press [NEXT] again, and measurement starts. Keep the button pressed until measure-
ment is completed. The manipulator moves in the order listed below. Once measure-
ment is completed, “
*
“ changes to “
'
“.
#
Measurement of the U-axis: U-axis home po 4.5 degrees
)
-4.5 degrees
&
Measurement of the B-axis: B-axis home po 4.5 degrees
)
-4.5 degrees
%
First measurement of the T-axis: T-axis home po 4.5 degrees
)
-4.5 degrees
+
Second measurement of the T-axis: T-axis home po60 degrees
)
+ 4.5
degrees
)
-4.5 degrees
T O O L
TOOL NO. : 0 0
N A M E : T O R C H 1
X
0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0.000 mm
!
R1
S C
L
D A T A E D I T D I S P L A Y U T I L I T Y
L I S T
D I S P L A Y
T O O L
TOOL NO. : 0 0
N A M E : T O R C H 1
X
0.000 mm Rx 0.00 deg.
Y 0.000 mm Ry 0.00 deg.
Z 0.000 mm Rz 0.00 deg.
W 0.000 kg
Xg 0.000 mm
!
R1
S C
L
D A T A E D I T D I S P L A Y U T I L I T Y
L I S T
D I S P L A Y
W . G R A V . P O S M E A S U R E
TOOL :00
R1:W *.*** kg < STATUS >
HOME
Xg *.*** mm U
Yg *.*** mm B
Zg *.*** mm T(1)
T(2)
!
D A T A
E D I T D I S P L A Y U T I L I T Y
R1 S C
L
C A N C E L
R E G I S T E R