How do I export payload information to place into another robot in Roboguide. These robots will be running the payloads and I'd hate to have to configure them all over again. R-2000iB/210F running 7.70.
How to Copy Payload Information to another Robot
- msuhadolnik
- Thread is Unresolved
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Try the SYSVARS.SV file, e.g. from an AoA backup.
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The payload information did copy over when loading the SYSVARS file. My only worry with doing that is the robots have to at pretty much the same configuration, correct? Else doing so could have unintended consequences...?
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That is correct, bear in mind that the SYSVARS.SV file contains many more things. If you are not sure, I would recommend to manually type in the payload data.
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Ok, I thought so. I was fortunate that these robots are the same model, and one was cloned from the other and setting the payloads was the first thing I did... I think I should be OK to copy and load the SYSVARS file.
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Just make sure to take an image first and you should be fine.
Murphy's law says you'll be sure to need it if you don't.
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You could set them from a TP program.
Code
Display More11: !Program Name: SET_PAYLOAD_VARS ; 12: ! ; 13: !Program Description: Rewrites ; 14: !payload id 1, and sets it. ; 15: !Takes the following arguments: ; 16: ! AR[1] = Weight of payload (kg) ; 17: ! AR[2-4] = CoG (cm). ; 18: ! AR[5-7] = Inertias (kgfcm^2). ; 25: !******************************** ; 26: LBL[1:Start] ; 27: ; 28: !Check arguments ; 29: IF (AR[1]<0 OR AR[5]<0 OR AR[6]<0 OR AR[7]<0),CALL FAULT(1) ; 30: !Payload in kg. ; 31: $PLST_GRP1[1].$PAYLOAD=(AR[1]) ; 32: !Payload CoG in cm. ; 33: $PLST_GRP1[1].$PAYLOAD_X=(AR[2]) ; 34: $PLST_GRP1[1].$PAYLOAD_Y=(AR[3]) ; 35: $PLST_GRP1[1].$PAYLOAD_Z=(AR[4]) ; 36: !Payload inertia in kgfcm^2. ; 37: $PLST_GRP1[1].$PAYLOAD_IX=(AR[5]*980) ; 38: $PLST_GRP1[1].$PAYLOAD_IY=(AR[6]*980) ; 39: $PLST_GRP1[1].$PAYLOAD_IZ=(AR[7]*980) ; 40: PAYLOAD[1] ; -
Nation's method is a great way to do it. No risk of loading sysvars.
I will be using this method going forward.
Even if I only have to do it once or twice during commissioning, I'll never again have to press F4 for YES to the seven prompts of:
"Path and Cycletime will change. Set it?"
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That is very useful... I'll be sure to do that moving forward next time I am in this predicament, thank you.
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