I am trying to use auto payload estimation but for some reason my numbers are coming out all weird. The robot is an M10-iA and the EOAT is basically an adapter to a Schunk pneumatic gripper with "fingers' bolted on the cylinders. Imagine a 2 finger gripper... This is picking up an aluminum rectangular block weighing in at 1.3# and the whole payload sticks out about 9" from the face of J6. I tried running collision guard but can't because the payload data is all wrong so I figured that I could use the identification option. When running it I have J2-J4 all at 0 deg, and it's already set to pivot J5 & J6 from -90 to +90. I noticed that after running it my inertia values are all still 0, and that collision guard still doesn't work. What I mean by doesn't work is that even set to as low as 50 I still get collision detections while the robot is transferring the product from one area to the next. The robots are about a year old, bought new, and haven't been abused. I also noticed that if J3 & J4 aren't at 0 deg, I get very different numbers for my offsets but still get nothing in my inertia values.
Any idea what I might be doing wrong? 
Thanks
Auto Payload Estimation Question
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Duranthas -
March 8, 2017 at 5:09 PM -
Thread is Resolved
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Did you apply the settings after running the payload identifier?
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Payload estimation works best with EOATs with it's CG at an offset from J6 axis of rotation. Probably your tool is not a good candidate.
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I am working a lot with ArcMates 100iC and 120iC (arc-welding robots, so equipped with torches) and have never been able to do the Auto Payload Estimation correctly. It always claims, that the values are incorrect, no matter of the robot setup (ArcMate or M-series with greater payload), so we never use it.
As mentioned, this probably works ok with EOATs which have an offset from the J6's rotation axis.
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