Setting up payload through TP program

    I am trying to set payload using TP program:

    9: $PLST_GRP1[1].$PAYLOAD=(1.2) ;

    10: $PLST_GRP1[1].$PAYLOAD_X=(0.5) ;

    11: $PLST_GRP1[1].$PAYLOAD_Y=(0.2) ;

    12: $PLST_GRP1[1].$PAYLOAD_Z=(0.1) ;

    I am running this TP program using karel CALL_PROGLIN which is called by my python code. Whenever this program is run, Teach pendant throws error: "Need to apply DCS param".

    Is there a way to override this approval error in the code?


  • Lemster68 August 14, 2023 at 9:04 PM

    Approved the thread.

    Are you just trying to change the payload in the job? Like our material handlers have two payloads setup on them. One for empty and one for carrying the load and we just call out the payload in the jobs on the fly.

    "I could tell that my parents hated me. My bath toys were a toaster and a radio."

    For collaborative robots you must apply DCS when you change the data of a payload schedule. But once you have your payload schedules set up you can switch between them from inside your TP-programs.

    Reason for having to apply DCS because of this is that the payload is used for calculating whether or not the forces that are registered by the force sensors are due to the current payload or if it's an external force. Since this is used for the contact stop function, which is a safety function, the DCS needs to be applied.

    So if you regularly need to alter the data of the payloads then I'm afraid there's no way around this. But if you can manage with the 10 different payloads that are available, then you can switch between these as you please.

    It may be possible to increase the number of available payload schedules through the program settings in CTRL start.

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