7.4.1.2 Tool Data Setting Information

• [Weight]: Weight of the tool (kg)

• [Length]: Length of the tool (mm). You can set it using the automatic calibration function or the auto calibration.

• [Angle]: Angle of the tool (deg). You can set it using the automatic calibration function or the angle calibration function.

• [Center]: Position of the center of gravity of the tool based on the center of the flange (mm). You can set it using the load estimation function.

• [Inertia]: The moment of inertia (kg/m2) of the tool with respect to the tool coordinate. You can set it using the load estimation function.

• Allowable Ratio: (Only for the robot models to which high-load mode is applied) This is the ratio of the current setting against the allowable reference value. The robot operation, according to the allowable ratio, is as follows.

Classification	Normal	High-load mode	Exception allowable mode	Playback impossible (Large size)
Weight ratio (%)	- 100	100–120	100–120	120 -
Moment ratio (%)	- 100	100–110	100–115 (150)	115 (150) -
Inertia ratio (%)	- 100	100–130	100–150 (600)	150 (600) -

The allowable ratio can be changed depending on the robot model and controller software version.