I'm trying to wrap my head around getting the numbers to put into the payload screen. I'm reading past posts, the handling tool/arc tool manual payload section and I am struggling to understand what numbers to use on this sheet in front of me for a welding torch.
I get the Mass and Center of Gravity numbers, but when I get to the Payload Intertia X, Y and Z portion of the payload screen I'm lost with what numbers to input. I have:
Inertia Relating to the Coordinate System XYZ (Kilogram * MM^2)
lxx lxy lxz
lyx lyy lyz
lzx lzy lzz
Intertia in the Center of Gravity relating to the coordinate frame XYZ (Kilogramm * MM^2)
lxx lxy lxz
lyx lyy lyz
lzx lzy lzz
On a side note:
I'm getting a lot of disturbance excess and random collision detect alarms on two new 100iD arc mates and am hoping getting the correct payload in will help. I had a FANUC tech in here last week for a positioner break-in issue and he recommended running these robots through a break-in routine overnight. After having these issues and coming in today to see both robots were off position after running them in T2 without issue on Friday, I'm going to run this break-in routine sooner than I thought...