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Payload

With a Payload Node, the Mass, the Center of Mass and the Inertia of the payload that is currently attached to the Robot can be defined.

This should be done every time the payload attached to the Robot changes, as this has a direct impact on the performance of the Robot.

The Mass is the total weight of the Payload in kilograms. The value can be determined by weighing the payload on a scale.

The Center of Mass is specified as a vector (x,y,z) from Tool Center Point coordinate system.

The Inertia describes how the payload's weight is distributed and improves the Robot's dynamic performance. It is given as the six components of the inertia tensor (Ixx, Iyy, Izz, Ixy, Ixz, Iyz) in kg·m², about the Center of Mass and aligned with the Tool Center Point coordinate system. These values are typically found in the mass properties of the payload's CAD model. If left empty, the payload is modeled as a point mass at the Center of Mass.

note
  • The payload is not automatically reset when the Flow stops.
  • The payload is ramped up from the current to the new value to ensure a smooth transition. Depending on the difference this can take up to 3 seconds. Please keep this in mind as very dynamic movements during this ramp-up may cause the Robot to stop.
  • The Inertia values are checked for mathematical validity, but cannot be verified against the real payload. Values that do not match the actual payload may degrade the Robot's motion.