Set Payload

Function

This Step is used for setting the payload of robot.

Parameters

Basic Non-Move

Please refer to General Parameters of Non-Move Steps for detailed information.

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) including the robot tool and workobject

COG Position (Optional)

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