Robot payload is the weight of the robot end-of-arm tooling and workpiece. If you have not set up the proper robot payload during software installation, or if you need to change the robot payload because you have changed end-of-arm tooling or the workpiece, you must set robot payload.
Be sure to set payload values as accurately as possible. The more accurate the values, the more effective features such as Collision Guard will be.
More accurate values can also improve position accuracy and cycle time.
You can define up to ten different payload schedules. You can then specify a payload schedule by using the payload setup screens and by using the payload teach pendant program instructions. You can set up payload schedules from the MOTION PERFORMANCE screen.
Table 1. MOTION PERFORMANCE Screen Items
ITEM | DESCRIPTION |
No. |
This item displays the payload schedule number. |
PAYLOAD[kg] |
This item displays the payload in kilograms. |
Comment |
This item displays any comments associated with each payload schedule. |
You can set up the payload schedule parameters from the MOTION/PAYLOAD SET screen.
Table 2. MOTION/PAYLOAD SET Screen Items
ITEM | DESCRIPTION |
Schedule No [ ] |
This item displays the payload schedule number. |
PAYLOAD Units: kg |
This item is the weight of the end-of-arm tooling.Note : There are 2.21 pounds in a kilogram. |
PAYLOAD CENTER X Units: cm |
This item is the up and down offset of the payload center of gravity from the center of the faceplate. Positive (+) values are up. There are 0.39 inches per centimeter. |
PAYLOAD CENTER Y Units: cm |
This item is the side offset of the payload center of gravity from the center of the faceplate. Positive (+) values are to the right of the faceplate when viewed from behind the faceplate. There are 0.39 inches per centimeter. |
PAYLOAD CENTER Z Units: cm |
This item is the offset of the payload center of gravity from the center of the faceplate. Positive (+) values are out from the faceplate. There are 0.39 inches per centimeter. |
PAYLOAD INERTIA X Units: kgfcms^2 |
This item is the moment of inertia of the payload around an axis parallel to the X-direction for the tool frame and through the center of gravity of the payload. |
PAYLOAD INERTIA Y Units: kgfcms^2 |
This item is the moment of inertia of the payload around an axis parallel to the Y-direction for the tool frame and through the center of gravity of the payload. |
PAYLOAD INERTIA Z Units: kgfcms^2 |
This item is the moment of inertia of the payload around an axis parallel to the Z-direction for the tool frame and through the center of gravity of the payload. |
Table 3, " MOTION/ARMLOAD SET Items " displays the items you can set up on the Motion/Armload screen.
Table 3. MOTION/ARMLOAD SET Items
ITEM | DESCRIPTION |
ARM LOAD AXIS #1 [kg] Units: kg |
This item is the additional mass mounted to axis 1. |
ARM LOAD AXIS #3 [kg] Units: kg |
This item is the additional mass mounted to axis 3. |
Table 4, " MOTION/PAYLOAD ID Items " lists the items on the Motion/Payload ID screen.
Table 4. MOTION/PAYLOAD ID Items
ITEM | DESCRIPTION |
PAYLOAD ESTIMATION |
This item allows you to estimate payload automatically. |
MASS IS KNOWN |
This item allows you to set whether or not the mass is known and the value, ranging from 0 to 999.99 kg. |
CALIBRATION MODE |
This item allows you to calibrate the robot. |
CALIBRATION STATUS |
This item indicates whether the robot has been calibrated. |
Table 5, " MOTION/ID POS1 ID Items " lists the items on the Motion/ID POS1 ID screen.
Table 5. MOTION/ID POS1 ID Items
ITEM | DESCRIPTION |
POSITION FOR ESTIMATION |
This item can be changed, depending on whether you want to use POSITION1 or POSITION2 for estimation. |
J5 Default: -90.000 |
This item displays the J5 robot position. |
J6 Default: -90.000 |
This item displays the J6 robot position. |
SPEED Range: 1% - 100% Low default: 1% High default: 100% |
This item displays the Low and High speeds. |
ACCEL Range: 1% - 100% Low default: 1% High default: 100% |
This item displays the Low and High acceleration rates. |