Set Payload

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Function

This Step is used for setting the payload of robot.

Parameter Description

General Parameters of Non-Move Steps

Skip Execution

None	Default setting. Do not skip the current Step.
Simulation only	Skip the current Step during simulation. The exit port is specified by Out Port When Skip.
Always	Skip the current Step when the project is simulating or running. The exit port is specified by Out Port When Skip.
Instruction	When Simulation only or Always is selected, the current Step will be skipped and the subsequent Step will be executed when running the project. If this parameter is set to None in “Check DI” Step in the project, and there is no external input signal during simulation, the project will be stopped when executing to this Step. In this case, setting the parameter to Simulation only or Always enables the simulation to continue.

Out Port When Skip

This parameter will take effect when Skip Execution is set to Simulation only or Always. It specifies the exit port when skipping a Step.

Payload Id

If multiple payloads are used, the index of the payload in use should be specified. If only one payload is used, use the default value.

Payload

Set to the maximum payload (in kg) of the robot tool and workobject.

COG Position

X/Y/Z: Set the center of gravity of the payload in the flange coordinate system (only required by some robot brands).