Could someone be able to explain " How robot calculates payload" on basis of 2 positions.
what is the principle behind this. Could someone be able to elaborate.
Could someone be able to explain " How robot calculates payload" on basis of 2 positions.
what is the principle behind this. Could someone be able to elaborate.
The PLOAD function allows to calculate the weight of the gripper
by executing several movements, by calculating i deducing the mass
of the gripper and the parameters of inertia according to the axes.
Two points, I'm confused. Under ROBOT, TOOL, UTILITY, W Grav..Pos Measure, the robot will move the minor axes to the mechanical home. The controller will move the minor axes through a dance. The controller is measuring motor load. Off this load it can calculate the load and center of gravity.
This could be done through a look up table and an algorithm written. Conversely, I could write an algorithm and test with a look up table. Fortunately, the controller does this for us.