Workcell Item - Add Tool Weight

MANDATORY EASY 5 MIN

The weight of the tool installed on the flange can be set by adding a tool weight Workcell Item. Tool weight can be set through Workcell Manager > Robot >

> Robot > Tool Weight. For more information, refer to Tool Weight Setting.

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.

Once the Workcell Item is registered (confirmed), the toggle switch must be enabled in order to use the Workcell Item. The activated tool weight Workcell 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 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 Builder Commands and Task Writer Command.

Note

Up to fifty different tool weights can be registered.