Set Payload

Description

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

When to use:

  • When adjusting the payload weight to prevent the robot from triggering a robot stop. A correctly configured payload weight ensures optimal robot movement.

    Setting the payload correctly ensures optimal motion performance and avoids robot stops.

  • When setting up the payload for use in a pick and place program, using a gripper.

 
Set Payload  
Use the Set Payload command

  1. In your robot program, select the place or node where you wish to add a Set command.

  2. Under Basic, tap Set Payload.

  3. Use the drop-down, under Select Payload.

    1. Select one of the payloads already configured.

    2. Or, use the drop-down to configure a new payload by selecting Custom Payload and completing the mass and CoG fields.

 
Tip

You can also use the Set Now button to set the values on the node as the active payload.

Use tip

Remember to always update your payload when making any changes to the configuration of the robot program.
Example: Set Payload

In a pick and place program, you would create a default payload in the installation. Then you add a Set Payload when picking up an object. You would update the payload after the gripper closes, but before starting to move.

Additionally, you would use the Set Payload after the object has been released.

Payload Transition Time

This is the time it takes the robot to adjust for a given payload. At the bottom of the screen, you can set the transition time between different payloads.

You can add a payload transition time in seconds.

Setting a transition time larger than zero, prevents the robot from doing a small "jump", when the payload changes. The program continues while the adjustment is taking place.

Using the Payload Transition Time is recommended when

picking up or releasing heavy objects or using a vacuum gripper.