5.1.5 Payload
The payload encompasses the mass of the end load as well as its center of gravity (CoG). When the robot is loaded and unloaded, the robot end load and the CoG will change. To optimize the robot's performance, it is necessary to set the end load and CoG accordingly. The moment of inertia is measured in a specific coordinate system originating at the CoG of the payload, with the axis aligned with the axis of the tool flange. The default inertia can be calculated based on the inertia of a sphere with a user-specified mass and a mass density of 1 g/cm3.
On [Payload] page, you can define more than one payload, at least one. Each payload must contain parameters such as load mass and CoG to maximize the performance of the robot.
- After the setting is completed, it is recommended to tap the [Set Now], [Default] and [Save] successively to ensure that the currently set payload parameters can be used during the move teaching and programming.
- The payload parameters determined as [Default] are to be used during programming.
- The payload parameters determined as [Set Now] are to be used during move teaching.
- The payload parameters determined as [Default] in the installation configuration file are to be used after shutdown and re-start.
- Payload Visualization: Simulate the status of the robot with the current settings.
- Payload: Set up payload, CoG, etc.
- Tool Flange: Display the center point of the tool flange.
Current default: The current default payload.
Default: Set to the default payload.
Add: Add a new payload.
Rename: Rename the currently selected payload.
Delete: Delete the selected payload.- Set Now: Make the currently set payload effective immediately.
- Measure: Payload identification wizard can guide the user to have the robot automatically calculate the payload and CoG.
Payload setting
- Method 1: Manually enter values for the payload and CoG.
- Method 2: Determine the payload and CoG using the payload identification wizard.