YASKAWA YRC1000, Инструкция по эксплуатации, Страница: 110 / 454

System Setup
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9.4 ARM Control
ARM Control, a control system originally developed by Yaskawa, achieves an enhanced
robot motion performance such as improved path accuracy or reduced cycle time.
The moment of inertia and the gravity moment etc. of each axis are calculated by the ARM
control function, and robot controller controls robot motion according to the result. It is
necessary to set the robot setup condition and the tool load information to request these
accurately.
The robot setup condition is robot installation angle relative to ground and the weight and
a center of gravity position of the load installed at each part of robot, etc.
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.
It is necessary to set these information correctly to do a better operation control by the ARM
control.
9.4.1 ARM control window
WARNING!
Injuries and damage in the event of a collision between the tool and positioner
Changes to the settings of the ARM control system can result in minor changes to the robot
path. To prevent injuries or damage as a result of a collision between the tool and
positioner, check the path before the execution of a job.
 Set the robot setup condition accurately.
 It is imperative to avoid setting the units incorrectly or entering positive and negative
values incorrectly. If this is disregarded, it can result in incorrect control of the robot and
errors or a shorter life for the gear reduction unit.
 Check the robot path for each job if you change the settings.
 Set the robot setup condition if you make settings for the robot.
 Then check the robot path for each job if you change the settings after installation.