Setting Up Your End-of-Arm Payload

Setting Up Your End-of-Arm Payload

Configuration of the payload at your robot's end-of-arm is important for ensuring accurate force compensation when in drag mode as well as collision detections. Multiple payload configurations for different tools or end effectors can be stored, eliminating the need to manually reconfigure the payload settings every time the payload changes. The payload can be configured via manual input or automatic identification.

Manual Configuration

Manual configuration of the payload can be performed when the mass and centroid values are already known, or when approximations can be used for testing and development purposes.

Navigate to:

Initial → Base → Payload → End

Select the desired payload slot to edit from the dropdown menu.
Info
The load name of the configured payload can also be edited by selecting the Rename button (pencil and paper icon).



You can then enter in the mass and centroid data, and click the check mark to save the data.
Notes
X, Y, and Z coordinate values are based on the default TCP coordinate system (toolcoord0)
If you need exact values for the payload parameters, it is strongly recommended to use the Automatic Identification function instead.

Automatic Payload Identification

InfoYou can also watch Fairino's video tutorial on how to perform automatic payload calibration.
During automatic payload identification, the robot will perform various movements to calculate your payload's mass and centroid.

Navigate to:

Initial → Base → Payload → End

Then select the "Identification Motion" button, indicated by the arrow in the image below.


This will open the Automatic Identification settings used to calculate the payload mass and centroid.



Using V1.0 Simple Trajectory

Step 1 — Prepare the Robot

Before starting:

  • Move the robot arm to a 90-degree position, as seen below.

  • Remove any payload attached to the robot.


Step 2 — Record Initial Position

Select Record Initial Position and wait for the process to complete.

Step 3 — Empty Load Identification

Select Empty Load Identification while the robot has no payload attached, and wait for the identification process to complete.

Step 4 — Full Load Identification

Attach your full payload to the robot arm.
Then:

  1. Select Full Load Identification

  2. Wait for the process to complete

  3. Select Obtain

  4. Select Apply Results

Alert
WARNING: Incorrect payload configuration may result in the following error: [Error] Drag force anomaly; dragging failed — can be reset
If this error occurs, try the following:

Verify Robot Mounting Configuration

Navigate to:

Initial → Base → Mounting

Ensure the mounting configuration shown on this screen matches the robot’s actual physical installation.



Verify End-of-Arm Payload Configuration

Make sure the end-of-arm payload parameters are configured correctly, including:

  • Payload mass

  • Payload centroid

Update the Robot Software

Ensure the robot is running the latest software version.

For software update instructions, refer to our software update guide.



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