Payload

Description

You must set the Payload, the CoG and the inertia for the robot to perform optimally.

You can define multiple Payloads, and switch between them in your program. This is useful in Pick and Place applications, for example, where the robot picks up and releases an object.

 
Adding, Renaming, Modfying and Removing Payloads

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

  • Tap the to define a new Payload with a unique name. The new payload is available in the drop-down menu.

  • Tap the to rename a Payload.

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

 
Active Payload

The checkmark in the drop-down indicates which payload is active . The active Payload can be changed using the .

Default Payload

The default Payload is set as the active Payload before the program starts.

  • Select the desired Payload and tap Set as default to set a Payload as the default.

The green icon in the drop-down menu indicates the default configured Payload .

 
Setting the Center of Gravity

Tap the fields CX, CY and CZ to set the center of gravity. The settings apply to the selected Payload.
Payload Estimation

This feature allows the robot to help set the correct Payload and Center of Gravity (CoG).

 
Using the Payload Estimation Wizard

  1. In the Installation Tab, under General, select Payload.

  2. On the Payload screen, tap Measure.

  3. In the Payload Estimation Wizard tap Next.

  4. Follow the steps in the Payload Estimation Wizard to set the four positions.
    Setting the four positions requires moving the robot arm into four different positions. The load of the payload is measured at each position.

  5. Once all measurements are complete, you can verify the result and tap Finish.

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 timespan

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

  • Robot mounting and angle must be correctly defined in the installation

 

Setting Inertia Values

You can select Use custom Inertia Matrix to set inertia values.

Tap the fields: IXX, IYY, IZZ, IXY, IXZ and IYZ to set the inertia for the selected Payload.

The inertia is specified in a coordinate system with the origin at the Center of Gravity (CoG) of the payload and the axes aligned with the tool flange axes.

The default inertia is calculated as the inertia of a sphere with the user specified mass, and a mass density of 1g/cm3