Iai-america XSEL-QX Manuel d'utilisateur télécharger pdf (Page 251)

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Part 4 Commands

z WGHT (Dedicated SCARA command/Set tip load mass, inertial moment)

Command, declaration

Extension condition

(LD, A, O, AB, OB)

Input condition

(I/O, flag)

Command,

declaration

Operand 1 Operand 2

Output

(Output, flag)

Optional Optional WGHT Mass (Inertial moment) CP

This command is supported by main controller application version 0.45 or later.

It is valid in PC software version 7.5.0.0 or later and teaching pendant version 1.11 or later.

20.

(Note) This command cannot be used with certain conventional models such as IX-NNN5020

(“D8A: Optimal acceleration/deceleration, Horizontal move optimization function based on Z

position internal parameter error” will generate).

[Function] Set the mass and inertial moment of the load at the tip (tool + work).

Set the mass in operand 1 and inertial moment in operand 2. The unit is [g] for operand 1

and [kg-mm

] for operand 2.

Once set by a WGHT command, the tip load mass and inertial moment will be retained until

a new WGHT command is set (the set values will be retained even after the program ends).

However, note that the set values will be cleared when the power is turned off or a software

reset is performed, which means that this command must be set expressly in the program.

(Note 1) For the inertial moment in operand 2, set the total inertial moment for the tool and work

related to the center of rotation of the R-axis.

(Note 2) Although entry of inertial moment in operand 2 is optional, if no inertial moment is set the

maximum allowable inertial moment of the robot will be set automatically.

(Note 3) If the tip load mass exceeds the maximum loading capacity of the robot, “B44: Load mass

setting error” will generate.

(Note 4) When a WGHT command is executed, information of both the tip load mass and inertial

moment will be refreshed. You cannot change only the mass or only the inertial moment.

(Note 5) Although the values of both tip load mass and inertial moment can be rough estimates, it is

recommended that you set slightly larger values. Round up each value to the next multiple

of 1 g or 1 kg-mm

(Note 6) If no WGHT command is executed, the load mass and inertial moment are initialized by the

maximum loading capacity and maximum allowable inertial moment of the robot. Set the

load mass and inertial moment according to the applicable conditions of use.

(Note 7) The load mass and inertial moment set by a WGHT command are used by the PTP optimal

acceleration/deceleration function for SCARA, Horizontal move optimization function based

on Z position for SCARA, etc.

[Example WGHT 1000 300 Set a tip load with a mass of 1000 g and inertial

moment of 300 kg-mm

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Iai-america XSEL-QX Manuel d'utilisateur Page 251

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