PAYLOAD DEFINITION

Hello,

One q. about payload definition we have a (ROBOT LINK) M-20iD/35 and by the software program we have gripper properties as follows:
coord system is oriented the same as on robot so the values are the same.

Mass: 25.54kg

Center mass

Z=17,4

X=-10,8

Y=-0,08 in fanuc value cm

inertia:
X=10,76

y=12,52

z=5,91 in fanuc values kgfcms2

If we look the wrist load diagram we are under the 35kg, mark and when we set all in tool definition we get that the tool is in overload.

But its a bit odd if we set all parameters to value "0", and try to set payload to idk 30kg we also get overload.

Can somebody explain why is that?

Quote from Nation

You look good to me. Are you using Fanuc's Excel based payload calculator?

we have changed to SI units in $SI_UNIT_ENB, so we have the same as in your excel.

But yes when we entered the values the warning is still the same

You think that values are to high?,....because we were quite precise when we were putting all the mass definition in 3D modeling

Quote from Nation

I ran a test on that robot is roboguide, and I was getting the same "overspec" alarm as you are.

I then discovered that Fanuc sets the J3 armload as 12kg by default. That value directly subtracts from the allowed payload on J6. Set that to 0, and it will work.

Yes that was the solution...Thanks for the out of the box thinking