Can the robot remember the PR position by changing the payload?

The robot has currently completed the payload setup, all teaching and programming have been completed, and the project's deadline is just around the corner. My project is tied to another system, so the saved Posision Register is very important to me and cannot be changed.

I think I'd like to reset the payload for the following reasons, but I'm very careful because there's a statement that the path changes. And it also describes various questions and all the situations.

1. I set up the payload via menu-system-motion-Ident-EXEC, it's a 50kg robot, and the gripper actually weighs over 40kg, but the actual robot's measured numerical values are not very accurate. I've set up a few robots with payloads, but the numerical values are always very different.

- Is it difficult to weigh a gripper very accurately?

2. Due to the client's request, the Cycle time should be shortened, and I slowly accelerated the robot, and the robot has different movements and difficult sounds.

In the process of gradually increasing the speed, an SRVO-053 alarm occurred, and on the Disturbance Torque screen, it was confirmed that the J3 axis Curr. data was maintained at -5 even when there was little movement. The customer requested to increase the speed for a high production rate, but eventually the robot detected a collision while moving and made an emergency stop.

- The question here is divided into two. Did I set the payload wrong and whether the actual torque value on the Disturbance Torque screen has nothing to do with the payload setting and the gripper is heavy.

Also, if I reset the payload, will the location data like P[1] and PR[1] be changed? I've never changed the payload of a robot that finished setting up the payload.

If I made a bad payload setup I'll do a reset and if not I'll ask the client to reduce the weight of the gripper. What are your thoughts?

In addition, can someone explain the PRIO-331 in detail? I checked that all the values of the robot register are not large and PLC sent all the data directly to the value of 0, but this alarm was not cleared.

Through this project, I learned something interesting.

1. Disturb torque values are displayed differently depending on the payload setting value. The SRVO-053 alarm was cleared by resetting the payload, but it is recommended to lower the weight of the mechanism part and improve the payload setting first.

2. After changing the payload setting value, we visually checked that the distance between the product and the robot was correct.