Payload and Center of Gravity

Description

The new Payload Estimation wizard allows the robot to help the user set the correct payload and center of gravity (CoG) of a work piece, such as a tool or a combination of attachments to the tool flange.

 
Payload and Center of Gravity (CoG) wizard

  1. On the left panel, tap End_effector_1.

  2. On the central panel, tap the Payload wizard icon, , and the pop-up Payload Estimation screen appears.

     

    By having the user teach four different positions, the robot can estimate the payload mass and CoG automatically. The wizard's final step will indicate, if the computed payload mass or the combination of payload mass and CoG offset may cause reduced robot performance.

     

 

As in the TCP position wizard, the user will be informed, if positions need to be re-taught, because the taught positions are not sufficiently diverse.

A pop-up with instructions can be opened at any time as in the TCP wizards.

Follow the these guidelines for best Payload Estimation results:

  • Ensure the TCP positions are as different as possible from each other

  • Perform the measurements within a short time span

  • Avoid pulling on the tool and/or attached payload before and during estimation

  • Robot mounting and angle must be correctly defined in the installation
Renaming, Duplicating, and Deleting Payloads

You can start configuring a new Payload with the following actions:

  • Tap to rename a Payload.

  • Tap to duplicate a Payload.

  • Tap to delete a selected Payload. You cannot remove the last Payload.