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How to Copy Payload Information to another Robot

  • msuhadolnik
  • September 22, 2022 at 9:53 PM
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  • msuhadolnik
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    • September 22, 2022 at 9:53 PM
    • #1

    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.

  • DS186
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    • September 22, 2022 at 10:52 PM
    • #2

    Try the SYSVARS.SV file, e.g. from an AoA backup.

  • msuhadolnik
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    • September 23, 2022 at 4:10 PM
    • #3

    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...?

  • DS186
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    • September 23, 2022 at 4:21 PM
    • #4

    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.

  • msuhadolnik
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    • September 23, 2022 at 6:18 PM
    • #5

    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.

  • pdl
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    • September 23, 2022 at 9:36 PM
    • #6

    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.

  • Nation
    Typical Robot Error
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    • September 23, 2022 at 9:38 PM
    • #7

    You could set them from a TP program.

    Code
    11: !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] ;
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  • pdl
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    • September 23, 2022 at 9:52 PM
    • #8

    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?"

  • msuhadolnik
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    • September 28, 2022 at 7:05 PM
    • #9

    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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Similar Threads

  • using SYSVAR.SV to quickly configure payloads

    • IGotRobotProblems
    • March 12, 2021 at 4:07 AM
    • Fanuc Robot Forum

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