Denso RC5 Specifications download pdf (Page 130)

Fig. 4-9 Payload Center of Gravity

Fig. 4-10 Right-Hand Coordinate System

4.7.2 Setting Internal Load Condition Values (Mass of Payload

and Center of Gravity) and Internal Mode

4.7.2.1 Setting Internal Load Condition Values

Set these values by executing the conventional language library aspACLD.

For details, refer to “22.1 Conventional Language.”

(Approach vector)

+Y axis (Orientation vector)

(Normal vector)

Payload center of gravity position in tool

0 coordinate system

Approach vector

Orientation vector

6th axis flange

Orientation vector (Y-axis)

Normal vector (X-axis)

pproach vector (Z-axis)

Tool 0 coordinate

6H7 (pinhole)

Flange center

Payload center of gravity

Denso RC5 Specifications Page 130