Mastering & calibration
Payload and Load Estimation Setup
For a technician entering accurate tool and part mass, center of gravity, and inertia data so the robot's motion control and collision detection perform correctly.
- Step 1.
Weigh or estimate the tool mass
Get the mass of the end effector alone, and separately the mass of a typical carried part if the robot picks and places.
- Step 2.
Estimate center of gravity
Use CAD data if available, or estimate the offset from the wrist flange to the tool's center of mass along each axis.
- Step 3.
Open the payload setup menu
On the pendant, go to System, Motion, and select the payload or load-set option.
- Step 4.
Enter mass and center of gravity values
Enter the weighed or estimated values into the corresponding schedule number.
- Step 5.
Run the automatic load estimation, if available
Some controllers can run a guided motion sequence to measure and refine the load values automatically. The sequence moves the robot, so before running confirm the cell is clear and all personnel are outside the guard.
- Step 6.
Select the correct payload schedule in programs
Set the program or instruction to reference the correct payload schedule number for the tool or part being carried.
- Step 7.
Verify motion behavior
Run a test cycle at reduced speed and confirm smooth acceleration and no unexpected collision-detection trips. Before running, confirm the cell is clear and all personnel are outside the guard.
Common questions
- How long does Payload and Load Estimation Setup take?
- Payload and Load Estimation Setup is rated Intermediate and takes about 30 minutes across 7 steps.
- What tools do I need?
- You will need Teach pendant, Scale for weighing tooling (if available), CAD data for center of gravity, if available.
- What should I do before starting?
- End effector and typical carried part are physically mounted.
- What is the first step?
- Weigh or estimate the tool mass. Get the mass of the end effector alone, and separately the mass of a typical carried part if the robot picks and places.