Daihen OTC RT3500S, Инструкция по эксплуатации

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5. Setting the Robot Controller
5.1 Checking the Tool Parameter
On delivery of the robot, the data of the welding torch (tool parameter) in use are not set. Then,
specify the tool parameter depending on the type of robot and torch as described below.
For the installation posture of torch, see Fig. 5.1 in this page.
Table 5.1 Tool constants of arc welding torch (for V6 type) manufactured by Daihen
N series
- V type
Length Angle Center of G Weight Moment of inertia Dia.
Reference
drawing
X Y Z Rx Ry Rz Gx Gy Gz
Mass
Ix Iy Iz r
[mm] [mm] [mm] [deg] [deg] [deg] [mm] [mm] [mm] [kg] kgm^2 kgm^2 kgm^2 mm
RT3500S 127.0 2.1 0.030
RT5000S
118.0
128.0 2.2
0.050
RTW5000S 119.0 129.0 2.3
RZ3500S
140.0 0.0 385.0 180.0 0.0 0.0
118.0
0.0
126.0 2.2
0.060
0.090
0.040
0.0 (1)
RT3500H 140.0
RT5000H
2.3 0.070 0.100
RTW5000H
107.0
142.0
2.4 0.080
RZ3500H
0.0 0.0 400.0 180.0 -45.0 0.0
111.0
0.0
141.0 2.3 0.070
0.110
0.030 0.0 (2)
RT3500L 148.0
RT5000L
119.0
149.0
2.4 0.120 0.040
RTW5000L 121.0 146.0 2.6
RZ3500L
0.0 0.0 400.0 180.0 -45.0 0.0
126.0
0.0
142.0 2.5
0.080
0.130 0.050
0.0 (3)
(1) (2) (3)
Fig.5.1 installation form of torch (for V6 type)
Note) The weigh shown in Table 5.1 includes the weight of the torch mounting bracket ASSY.
Refer to the instruction manual for each manipulator if the datain Table 5.1 have not been set.
Type Reference instruction manual
AII series
Chapter 4, INSTALLATION (1L20400A-E-*)