Tool Weight

The weight of the tool installed on the flange can be set by adding a tool weight Workcell Item. The Tool Weight can be set in Robot Parameters > Tool Settings > Tool Weight.

The tool weight can be measured using the auto measure function.
It is recommended to add tool weight as Workcell Items for each tool with a workpiece. If the workpiece weight is too heavy, the robot may recognize the weight of the workpiece as external force. It is because the robot determines this external force as a collision and stops.
When creating a task, change the weight Workcell Item according to the process to change the tool weight. For example, it is possible to configure a task to select the standard tool weight Workcell Item before picking up a workpiece, and select the tool weight Workcell Item with the workpiece after picking up a workpiece.

The activated tool weight Item can be set as the standard tool weight by pressing the set tool icon (

) on the top of the teach pendant.

Set of the tool setting is the same as the set of Other Commands. Set command can be used when changing the Tool Weight while a task is being performed. For more information, refer to Task Editor Module.

Note

Up to fifty different tool weights can be registered.

	Item	Description
1	Lock Toggle Button	Used to lock the set value. The safety password is required for modifying the set value.
2	Adding	This button allows you to add a new Tool Weight.
3	Deleting	This button allows you to delete a Tool Weight.
4	Tool Weight List	A list of the configured Tool Weights
5	Tool Weight Name	This is where you can enter a name for the Tool Weight.
6	Auto Measure Motion	This button allows you to run the automatic measurement.
7	Automatic Measurement	This button allows you to select an option and run an automatic measurement for it.
8	Motion Selection	You can select the desired Motion from the options.
9	Selection of the Use of Weight	You can choose whether to use weight. This selection box is disabled for E Series or A Series without FPT sensors.
10	Weight Input	This is where you can enter the desired weight.
11	Selection of the Use of Center of Gravity CX	The use of the center of gravity CX can be selected.
12	CX Input	CX can be entered.
13	Selection of the Use of Center of Gravity CY	The use of the center of gravity CY can be selected.
14	CY Input	CY can be entered.
15	Selection of the Use of Center of Gravity CZ	The use of the center of gravity CZ can be selected.
16	CZ Input	CZ can be entered.
17	Whether to Use Inertia	This checkbox allows you to choose whether to use inertia.
18	lxx Input	An LXX entry for inertia can be entered.
19	lyy Input	An lyy entry for inertia can be entered.
20	lzz Input	An lzz entry for inertia can be entered.
21	lxy Input	An lxy entry for inertia can be entered.
22	lyz Input	An lyz entry for inertia can be entered.
23	lzx Input	An lzx entry for inertia can be entered.
24	Save	This button allows you to save the setting values.