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Home > Robotiq Products > Payload & CoG (Automatic process)
Enric

Hello

I am testing the new URCaps with the new sensor.
I have seen the calibration process. After performing the calibration as indicated in the pictures, it gives us results of Payload and CoG.

The Payload in my case is 0.2 Kg. Is it necessary to add the 300gr of the sensor to indicate it to the Robot?
This process also informs us of the CoG
Is this data from the base of the sensor? or is it the base of TCP Tool?
In my case it is seen in the photo
Cx: -1
Cy: 0
Cz = 7

Thank you.zoom
Etienne_Samson

@Enric it will be necessary to use it only if you are using the UR Force Mode with the FT-300 force injection. When you do so, the force will be used according to the COG and payload calculated by the calibration.

Otherwise you can use the COG and payload you wish to.
louis_bergeron

@Enric,

The data calculated by the calibration procedure is the overall payload and CoG relative to the UR flange.  I can understand your questioning.  This process will continue to be improved to give at least the sensor weight.  
MarcAntoine_Lacasse

In force mode injection, the tool mass compensation is done by UR. The calibration procedure gives you a good estimation of total payload and CoG you should enter in TCP configuration tab and it should include the sensor masse. The sensor base mass is about 0.19 kg at which we sum the estimated payload attached to it. If this estimated payload (sensor flange + tool) is lower than sensor flange mass, the given total mass can be lower than sensor mass. This should not happen and we will fix it in a soon coming release.
Enric

In force mode injection, the tool mass compensation is done by UR. The calibration procedure gives you a good estimation of total payload and CoG you should enter in TCP configuration tab and it should include the sensor masse. The sensor base mass is about 0.19 kg at which we sum the estimated payload attached to it. If this estimated payload (sensor flange + tool) is lower than sensor flange mass, the given total mass can be lower than sensor mass. This should not happen and we will fix it in a soon coming release.
Hi, @MarcAntoine_Lacasse

Currently with Force Copilot, (1.11.0) do we already have the calibration process that adds the 0.19 of the sensor?
Best Rergards

MarcAntoine_Lacasse

Hi @Enric

Yes, the Force Copilot calibration process adds the 192g of sensor base mass and adjust the CoG.
Base on the precision of the calibration process, it is still possible to obtain estimated payload slithly lower than the sensor mass.