Ok, here's a brain twister.
Over the past 4 years I've been doing maintenance work, mainly on quite a few M410iB/450. Usual issue: reducers for J2 or J3 go to pot, we change them.
However, I've been noticing that it's generally the same robots that drop dead - I have a couple that are over 15 years old and never issued a complaint - and it's made me look into the problem a bit. It's not normal, in my opinion, to change the same reducer in the span of less than 2 years. And there's really not that much that you can mess up while changing one of these so as to worry about messing up the replacement procedure in any way.
These robots were not originally installed by the company I work at and they were not programmed by us either. I've been poking my nose through some of the settings and noticed that the payload they have set is at 250 Kgs...but the actual payload they're carrying is way over 350 Kgs, easily. Since I only do maintenance work on them, I can't start changing parameters for the robot without a contract from the client. Any issue would get me in deep shit while actually trying to do good.
Now, the question is this: IS there any way by which a robot can manage its payload and inertia IF I don't have a certain payload set very clearly? There are some karel programs there that are named, specifically, Inertia Calculation, but I don't know how to read them, so I'm at a bit of a loss here. I don't know if I should discuss with the client the possibility of bad original settings for the robots if I, myself, am not sure that changing the payload would help any.