3.9 Tool Data Setting
3-35
*1
In the same way shown in Explanation *1,*2 in ”Registering coordinate data”, the
desired tool coordinate display is shown.
*2
First, select Rz.
*3
Input rotation angle around Z
F
of the flange coordinates.
*4
The rotation angle of Rz is registered.
In the same way, register the angle of Ry, Rx.
Ry must be the input rotation angle around Y
F
flange coordinates.
Rx must be the input rotation angle around X
F
of flange coordinates.
"
Setting the Tool Load Information
The tool load information includes weight, a center of gravity position, and moment of inertia at
the center of gravity of the tool installed at the flange.
Select {ROBOT} under the top menu
Select {TOOL}
Select the desired tool
number
*1
Select the desired coordinate axis to modify
*2
Input the tool pose
data
*3
Press [ENTER
*4
If tool data is registered in the tool file by tool calibration, the old data will be deleted.
O peration
Explanation
X
F
Z
F
Y
F
X
F
Y
F
Rz = 180
X
0.000 mm Rx 0.00 deg.
Y
0.000 mm Ry 0.00 deg.
Z
0.000 mm Rz
180.00
deg.
Z
F
Z
F
Y
F
F
X
F
Ry = 90
(Y
)
X
0.000 mm Rx 0.00 deg.
Y
0.000 mm Ry
90.00
deg.
Z
0.000 mm Rz 180.00 deg.
Z
F
Y
F
X
F
Rx = 0
X
0 . 0 0 0 mm Rx
0.00
deg.
Y
0.000 mm Ry 9 0 . 0 0 deg.
Z
0 . 0 0 0 mm Rz 1 8 0 . 0 0 deg.
N OT E
Содержание SK300X
Страница 2: ......
Страница 4: ...SK300X Manipulator Manual XRC 2001 ii MOTOMAN NOTES...
Страница 7: ...INTRODUCTION MOTOMAN 1 3 SK300X Manipulator Manual XRC 2001 NOTES...
Страница 21: ...viii...
Страница 25: ...xii...
Страница 41: ...1 7 Notes on MOTOMAN Disposal 1 16...
Страница 59: ...4 3 Connection Methods 4 12...
Страница 67: ...6 1 Movement of the Axes 6 4...
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Страница 93: ...3 3 Location 3 6...
Страница 99: ...4 2 Cable Connection 4 6...
Страница 102: ...5 4 Dimensions and Working Range 5 3 5 4 Dimensions and Working Range Fig 10 a Dimesions and Working Range YR SK300 J0...
Страница 103: ...5 4 Dimensions and Working Range 5 4 Fig 10 b Dimesions and Working Range YR SK300 J1...
Страница 104: ...5 4 Dimensions and Working Range 5 5 Fig 10 c Dimesions and Working Range YR SK300 J2...
Страница 109: ...6 2 Wrist Flange 6 4...
Страница 133: ...9 2 Notes on Maintenance Procedures 9 18...
Страница 136: ...11 1 S Axis Driving Unit 11 1 11 Parts List 11 1 S Axis Driving Unit...
Страница 138: ...11 2 L U Axis Driving Unit 1 11 3 11 2 L U Axis Driving Unit 1...
Страница 140: ...11 3 L U Axis Driving Unit 2 11 5 11 3 L U Axis Driving Unit 2...
Страница 234: ...2 8 General I O Signal Assignment 2 72...
Страница 270: ...4 4 Recommended Spare Parts 4 30...
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Страница 286: ...Setup Diagnosis...
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Страница 289: ...1 2...
Страница 297: ...2 1 Protection Through Security Mode Settings 2 8...
Страница 395: ...3 17 File Initialize 3 98...
Страница 417: ...4 2 Addition of Base and Station Axis 4 22...
Страница 435: ...5 6 Position Data When Power is Turned ON OFF 5 18...
Страница 436: ...Hardware...
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Страница 447: ...6 4 Equipment Configuration 6 10...
Страница 456: ...8 8 Open Phase Check 8 8...
Страница 476: ...9 4 Recommended Spare Parts 9 20...
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