SetPayload#

This command sets the robot’s payload mass and the center of mass relative to the robot’s FRF.

It is inserted in the motion queue with other motion commands, allowing it to be executed, for example, after actions such as opening or closing the gripper.

Syntax#

SetPayload(m,c_x,c_y,c_z)

Arguments#

m: the payload mass, in kilograms.
c_x,c_y,c_z: the coordinates of the payload center of mass, relative to the robot’s FRF, in millimeters.

Default values#

The default settings are applied whenever the robot is activated or reactivated.

By default, the payload mass is 0 kg.

Further details#

The provided payload mass should include the weight of any components attached to the robot’s flange, such as the end-effector and any workpieve being carried.

Although it is not mandatory to use this command, providing the payload data enables the robot to better estimate the required motor torques. This leads to several potential benefits, such as:

Improved path tracking: The robot can move with greater accuracy and compensate for the additional load;
Better torque limit management: Enhanced precision for the robot’s torque limits option (see SetTorqueLimitsCfg).

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

[1005][The robot is not activated.]

[1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the SetPayload command is represented by MotionCommandID 60. See Section 4.2 for more details.