Hello, I have always used the C5G. In the touchpad you can find the icon of the payload (in the Setup or Service folder) that will get you in the application. You will need to follow all the instructions with the objects in the grippers. The robot will perform predefined movements that you can define in case of necessity and after you will have the payload values. In the C4G control panel should be no different. I hope I was helpful.
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