Using Conditions That Should Be Set

If the mass of payload (end-effector and workpiece) which is applied on the flange of the robot is determined, set the mass of payload and the center of gravity position. Refer to "Displaying and Setting the Configuration" of TEACH PEANDANT OPERATION GUIDE or"Arm Parameter Data Transfer"of WINCAPSIII GUIDE. They can be changed even with a program in order to change the tool or workpiece.