4-12
4.7 Setting the Master Control Parameters in
User Preferences
4.7.1 Setting Master Control Parameters of the Mass of Payload,
Center of Gravity, and Control Set of Motion Optimization
n
nn
n Setting with the Teach Pendant
Access: Top screen
[F2 Arm]
[F6 Aux.]
[F7 Config.]
If you use the teach pendant and follow the above procedure, the User
Preferences window will appear where you can set master control parameters
such as the control set of motion optimization and the mass of payload. Refer
to the “SETTING-UP MANUAL, Section 2.9 ."
Select the following items in this User Preferences window, then press [F5
Change.] to call up the numeric keypad where you can enter new values.
Setting item:
"Control set of motion optimization"
"Mass of load (g)"
"Payload center of gravity X (mm)"
"Payload center of gravity Y (mm)"
"Payload center of gravity Z (mm)" or “Inertia of payload (kgcm
2
)”
(for 4-axes robot in Ver.1.9 or later)
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