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EnricEnric Posts: 111Founding Pro, Partner, Beta Tester Multi Gripper, Vacuum Beta tester Handy
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.
Enric Vila Avila
Vicosystems S.L.L.
Industrial Collaborative Systems

[email protected]

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  • EnricEnric Posts: 111Founding Pro, Partner, Beta Tester Multi Gripper, Vacuum Beta tester Handy
    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
    Enric Vila Avila
    Vicosystems S.L.L.
    Industrial Collaborative Systems

    [email protected]
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