Universal Robots UR16e

7.7.10. Set Payload
Description The Set Payload command allows you to configure the payload for the
robot. Payload is the combined weight of everything attached to the robot
tool flange.
When to use:
•
When adjusting the payload weight to prevent the robot from
triggering a robot stop. A correctly configured payload weight
ensures optimal robot movement.
Setting the payload correctly ensures optimal motion performance
and avoids robot stops.
•
When setting up the payload for use in a pick and place program,
using a gripper.
Set Payload
Use the Set Payload
command
1. In your robot program, select the place or node where you wish to
add a Set command.
2. Under Basic, tap Set Payload.
3. Use the drop-down, under Select Payload.
a. Select one of the payloads already configured.
b. Or, use the drop-down to configure a new payload by selecting
Custom Payload and completing the mass and CoG fields.
Tip You can also use the Set Now button to set the values on the node as the
active payload.
User Manual 237 UR16e
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