I have a robot here (IRB6400, s4c) that lifts different size truck wheels, small ones about 50kg up to large ones at 150kg. At the moment there are 3 main groups with similar weights, the 17.5 inch that are the small wheels, 19.5 inch wheels which are the medium wheels and the 22.5 which are the large. The wheels are fitted by a guy then loaded on a conveyor where the robot lifts the wheel and stacks it. they are done in stacks of 6 mostly. The guy fitting the tyres sets the wheel type on the controller every time he changes sizes.
The problem is, they have that much going on they often forget to change the program on the controller and the robot crashes due to incorrect load data. I am trying to make the program so it will work for all size of wheels without any human intervention, I have everything else figured out except the load data. Is there anyway to get the robot to calculate its own load data or is there something I can change that will allow the robot to work within this range of weight without crashing due to load data?