# 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) -                      |

{% hint style="info" %}
The allowable ratio can be changed depending on the robot model and controller software version.
{% endhint %}

