Payload Updates via TP

    Hello,

    I have an application where the robot's payload changes drastically between cycles. i.e. The EOAT mass is over double in some scenarios, and the CoG is far enough out that the inertia will make a large impact on the payload. I see the PLST_GRP system variables and have tested changing them via a TP program, but when I asked Fanuc, they said it needs to be entered via the TP Motion screen for it to take effect. Something about it having to run calculations once entry is complete. This makes sense since the screen can only be updated when it's the primary window, and due to the confirmations that are presented when making a change to one of the values.

    If I can't update the values form the program and have them take effect, then my backup would be to update the values and maybe make a single change from the pendant to make them work. That would at least save the manual entry of all the values.

    Does anyone have any experience with changing the payload values (mass, CoG, inertia) from the program?

    The problem is that there is not a set amount of parts. The robot is handling parts that can range in size. The operator enters the length, diameter and center of gravity.. My plan was to calculate the inertia and then update the payload. I did this on an ABB robot a while ago using a function called gripload.

    I have the same problem where I would need hundreds of payload entries.
    For me it work with PLST system variables.
    The PLC launches a special program to update the payload, then it executes the regular cycle, all in automatic mode.

    7: --eg:payload 2 - Empty Claw ;
    8: $PLST_GRP1[2].$PAYLOAD=(R[110:P2 mass]) ;
    9: $PLST_GRP1[2].$PAYLOAD_X=(R[111:P2 cmx]) ;
    10: $PLST_GRP1[2].$PAYLOAD_Y=(R[112:P2 cmy]) ;
    11: $PLST_GRP1[2].$PAYLOAD_Z=(R[113:P2 cmz]) ;
    12: $PLST_GRP1[2].$PAYLOAD_IX=(R[114:P2 ix]) ;
    13: $PLST_GRP1[2].$PAYLOAD_IY=(R[115:P2 iy]) ;
    14: $PLST_GRP1[2].$PAYLOAD_IZ=(R[116:P2 iz]) ;

    I was told by Fanuc that just updating the variables did not force the robot to re-calculate the info that gets done when entered in via the setup screen. I never actually tested this and just took their word for it.

    Have you tested with a large and small payload on the same moves and seen if the robot accel is limited with the higher payload?

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