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Tim_Smith
Posts: 38 Apprentice
Do you have to set the robot's payload every time you pick up an object? |
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Answered | |
/ Most recent by Etienne_Samson
in Programming
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5 comments |

Hi DoF community,
I started the Universal Robots Academy training modules online. In the 5th module, they explain how to use the SET command in a program, they were using a gripper that requires a Digital Output to open/close the gripper. In the SET command, they were also changing the robot's payload when the gripper picked-up a part and when the gripper placed the part.
Does the robot's payload need to be changed every time the gripper picks up an object? How will this change the robot's behaviour?
I started the Universal Robots Academy training modules online. In the 5th module, they explain how to use the SET command in a program, they were using a gripper that requires a Digital Output to open/close the gripper. In the SET command, they were also changing the robot's payload when the gripper picked-up a part and when the gripper placed the part.
Does the robot's payload need to be changed every time the gripper picks up an object? How will this change the robot's behaviour?
Another thing to also consider is making sure that the CoG for the TCP is set correctly. I believe by default it puts the CoG at the end of the TCP coordinates.
To make it easier if I am using a gripper that requires a digital output to operate I will write custom script functions for the open and close command and then embed the tcp weight setting there so all I need to do is say open_gripper() or close_gripper() in the program and the weight is set correctly
When using the Robotiq Gripper you should always have a logic like this:
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When looking at those charts you will probably notice that grip force decrease with an increase in finger opening. Thus if you use the 2-F-140 and increase it's opening to maximum you will be able to pick you part of 268 mm but only with a grip force of 40 N.
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