HOME
ID : 3061
Auto Measuring Payload Center of Gravity
The following explains the procedure of this option by exemplifying HSR, HSA1 robots.
This function is available in Ver.2.3.* or higher.
1
Press [Automatic measure] button next to Payload center of gravity.
Information of how a robot performs and caution about measuring will be shown in the window of Payload center of gravity.
After confirming the message, press [OK].
Automatic measure window is displayed.
Press [Start].
2
While pressing the deadman switch, press [MOTOR] key to turn on, and then keep pressing OK key.
Measurement of the motion at lower speed is performed on the path of Motion 1.
- Make sure that the robot's hand and/or other things won't interference with any other equipment.
- Do not enter the robot motion range because the robot may move at higher speed than the normal manual operation.
(Small window appears while processing)
Keep pressing the deadman switch until measuring is finished.
If you release the deadman switch or OK key during measuring, the automatic measurement will be interrupted.
3
Once the measurement of the motion at lower speed is finished, the motion at higher speed will be measured.
Keep pressing the deadman switch and OK key.
Do not enter the robot motion range because the robot moves at higher speed than the normal manual operation.
(Small window appears while processing)
4
On the path of Motion 2, the measurement of the motions at lower speed and at higher speed is performed again.
(Small window appears while processing)
5
(Small window appears while processing)
6
If the measurement value locates inside of the maximum allowable range, measuring is completed.
Press [OK] to return the window of [Easy Setting]. The measured value of payload center of gravity is inputted.
| 1 | HSR and HSA1 do not estimate the center of gravity in Z axis direction. If the value of calculated value is sure, use that value. |
| 2 | If the measurement value locates outside of the maximum allowable range, the following message will be displayed.
|
| 3 | Ensure that if pressed "Cancel" in the window of Automatic measurement and the window returns to [Easy Setting] - [Mass of payload], the measurement value cannot be inputted. |
ID : 3061