User Manual

91
● The load weight refers to the actual mass (end-effector + object ) in
Kg; X/Y/Z-axis represents the position of the centre of gravity of
payload in mm, this position is expressed in default TCP coordinate
located at flange center(Frame B in the above figure) . If there is
virtually no load at the end, both TCP payload and centre of gravity
must be set to 0.
【TCP Offset】
● Setting the Tool Coordinate Offset with respect to the initial tool
frame located at the center of the flange (Frame B in the
above figure) . The position coordinates X, Y, and Z determine the
position of TCP, while Roll, Pitch, and Yaw determine the orientation.
When the specified value is zero, TCP coincides with the centre point of
the tool output flange.