Payload

Description

The Payload command allows you to configure the payload of the robot, which is the combined weight of everything attached to the robot tool flange, and the center of gravity to predefined values or custom ones.

 

To access Payload command

  1. Go to the main program screen. See Command Nodes.

  2. Tap the Payload icon in the Commands toolbox.

    A node with an editable Type field is inserted into the program tree. The fields are:

    • Custom

    • Robot

  3. Tap Custom.

    When this is selected, the payload and center of gravity can be directly set.

    Four additional fields appear on the right side:

    • Payload

    • CX

    • CY

    • CZ

 

  1. Tap the Payload field.

    This contains a list of all end effectors defined in the End Effectors application inside the Application menu, which includes the tool flange predefined end effector. See End Effectors Application.

    Three tabs to input the payload are available:

    • Value

    • Variable

    • Expression

    Note: The Variable tab is inactive.

  2. Make the input in each tab and tap Confirm. See Value-Variable-Expression Tabs.

  3. Tap the CX field and repeat step 5.

  4. Tap the CY field and repeat step 5.

  5. Tap the CZ field and repeat step 5.