Separate the Known Payload Data
The available SolidWorks report contains the gripper mass-center coordinates Px, Py, and Pz; Lxx, Lyy, and Lzz referenced to the center of mass and aligned coordinate system; and Ixx, Iyy, and Izz referenced to the output coordinate system. These are not interchangeable because they use different reference points.
| SolidWorks data | Reported reference | Decision |
|---|---|---|
Px, Py, Pz
|
Center of mass | Confirm that the robot payload screen uses the same origin and axis directions. |
Lxx, Lyy, Lzz
|
Center of mass, aligned axes | Use only if the required FANUC fields and units match this definition. |
Ixx, Iyy, Izz
|
Output coordinate system | Do not substitute these for center-of-mass values without confirming the required reference. |
Choose Identification or Manual Entry
The supported automatic path is the FANUC IDENT option under MENU-SYSTEM-MOTION after pressing NEXT. If that option is enabled, it runs a routine to determine the center of mass and moment of inertia. This avoids guessing how differently referenced SolidWorks values map into unspecified payload fields.
Manual entry remains possible, but the evidence does not define the required FANUC units, field names, coordinate convention, or conversion to kgf·cm·s². Do not apply that conversion until the target controller documentation identifies the required physical quantity and units.
Run the IDENT Procedure
- Open
MENU-SYSTEM-MOTION, pressNEXT, and verify thatIDENTis available. - Enter the gripper weight manually.
- Set motion limits for axes
J5andJ6so the identification movement cannot drive the gripper into a collision. - Run the identification routine at
100%speed without the gripper installed. - Install the gripper and run the routine again at
100%speed.
Because the routine requires full commanded speed according to the supplied procedure, verify the permitted workspace, axis limits, tooling retention, and cell safety controls before execution.
Verify the Result
Confirm that both identification runs completed and that the resulting payload represents the mounted gripper configuration. Then evaluate collision alarms during controlled robot operation. Do not suppress alarms solely to accommodate an uncertain inertia entry; first resolve coordinate-reference, unit, gripper-weight, or identification-run errors.
If IDENT is unavailable, record the exact payload fields and units shown by the controller before translating the SolidWorks report. The supplied evidence is insufficient to determine whether the controller expects center-of-mass inertia or inertia about the output coordinate system.
FAQ
Where is FANUC payload identification located?
Check MENU-SYSTEM-MOTION, press NEXT, and look for the IDENT option.
How many FANUC IDENT runs are required for a gripper?
Run the routine twice at 100% speed: once without the gripper and once with the gripper installed. Enter the gripper weight manually and constrain J5 and J6 before running it.
Can I enter SolidWorks Ixx, Iyy, and Izz directly into FANUC?
Not without confirming the controller's required reference and units. The supplied Ixx, Iyy, and Izz are referenced to the output coordinate system, while the other inertia data are referenced to the center of mass.
