Payload

Description

The Payload command allows you to configure the payload for the robot, which is the combined weight of everything attached to the robot tool flange.

 

To access Payload program

  1. Go to the basic command screen. See Basic Command Nodes.

  2. Tap the Payload icon in the Commands screen.

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

    • Custom

    • Robot

  3. Tap Custom.

    Four additional fields appear on the right side:

    • Payload

    • CX

    • CY

    • CZ

 

  1. Tap the Payload field.

    Three tabs to input the payload are available:

    • Value

    • Variable

    • Expression

    Note: The Variable tab is inactive.

  2. Tap the Value tab and enter the payload you prefer for the robot.

  3. Tap Confirm.

  4. Tap the Expression tab and enter the payload expression.

  5. Tap Confirm.

  6. Tap the CX field.

  7. Tap the Value tab and enter the value you prefer for the robot.

  8. Tap Confirm.

  9. Tap the Expression tab and enter the corresponding expression.

  10. Tap Confirm.

  11. Tap the CY field.

  12. Repeat steps 10-13 to proceed.

  13. Tap the CZ field.

  14. Repeat steps 10-13 to proceed.