3.9 Tool Data Setting
3-41
3.9.3
Automatic Measurement of the Tool Load and the
Center of Gravity
"
What is the Automatic Measurement of the Tool Load and the Cen-
ter of Gravity?
With this function, the user can register the load of tool and the position of the tools center of
gravity.
The tool load and the position of it’s center of gravity are measured and registered in a tool
file.
"
Measurement of the Tool Load and the Center of Gravity
To measure the tool load and the center of gravity, move the manipulator to it’s home position
(horizontal to the U-, B- and R-axes) and operate the U-, B- and R-axes.
This function is available for the models listed below. Contact your Yaskawa representa-
tive for information on other models.
Applicable models: MOTOMAN UP6, SK16X, SK45X, and UP130
This function can be used where the manipulator is installed level on the ground.
For the conditions required for manipulator installation, refer to 3.11 “ARM Control”.
To measure the tool load or the center of gravity, remove the cables or wires connected to
the tool. Otherwise, the measurements may not be correct.
N OT E
U-axis
R-axis
B-axis
T-axis
L-axis
S-axis
U-
U+
B-
B+
T-
T+
Zero-degree Installation on the Ground
Home Position
(Horizontal to the U-,
B- and R-axes)
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...
Страница 73: ...8 2...
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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...
Страница 285: ...xiv...
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...
Страница 477: ...Alarm Error...
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