Set Payload Command

This command modifies the Dynamic Feedforward (DFF) Payload parameter for the selected robot.

Set Payload percent_mass [,robot]

Prerequisites

Modifying the Payload value is only meaningful if the selected robot has Dynamic Feedforward compensation enabled.

The Payload value cannot be modified when the specified robot is moving under program control or is in manual (jog) mode.

Parameters

percent_mass

A required integer number (0 to 100) that specifies the mass of the object held by the gripper. This value is interpreted as a percentage and is with respect to the maximum anticipated payload for the robot.

robot

Optional integer number that specifies the number of the robot whose Payload is modified. If no number is specified, this value defaults to 1.

Remarks

This command modifies the current value of the selected robot's Dynamic Feedforward Payload parameter. This value ranges from 0 to 100 and is interpreted as a percentage. The Payload adjusts the system's internal dynamic model of the robot to compensate for the mass of the object held by the gripper.

It important to have this value set correctly in order for the DFF gravity compensation to be as accurate as possible. For many kinematic modules, this parameter also alters the feedforward torque that is applied when the robot is moving, which improves the robot's performance and minimizes its tracking error.

Examples

Set Payload 50, 2

This command sets the Payload parameter for robot 2 to 50%, half of the maximum permitted mass.