Payload with dressout option

[Robotter]

I have a very basic yet vital question:

Q1) When we have a robot (R2000iB) with a dressout package a casting gets added to the robot flange. This is usually about 150 mm thick and weighs about 15 kgs.
I would like to know if this thickness and weight affects the robot payload?

Q2) How about the axis moments? What happens here?

[Professor_J]

Well, obviously it will add 15kg to the mass. However if you're going to add 15kg to a payload, right up against the flange is probably the best place for it.. However the 150mm will also affect the Z value of your C.O.G. which is fairly crucial...

Moments will also presumably change.... If you have your current payload I can use the "Fanuc Payload Checker" and probably work it our for you..

(No I can't provide the Payload Checker)

[Robotter]

Thank you for your response Prof. And I do not need the payload checker


Is it true that FANUC modifies some motion parameters so that the additional weight and distance is taken care of? It is because of this reason I have posted this query.

[Robotter]

I was told that the payload graph is applicable from the casting flange and not from the robot flange in this case.