Universal Robots UR5e - Installation Tab; TCP Configuration

Setting the Center
of Gravity
Tap the fields CX, CY and CZ to set the center of gravity. The settings apply
to the selected Payload.
Payload Estimation This feature allows the robot to help set the correct Payload and Center of
Gravity (CoG).
Using the Payload
Estimation Wizard
1. In the Installation Tab, under General, select Payload.
2. On the Payload screen, tap Measure.
3. In the Payload Estimation Wizard tap Next.
4. Follow the steps in the Payload Estimation Wizard to set the four
positions.
Setting the four positions requires moving the robot arm into four
different positions. The load of the payload is measured at each
position.
5. Once all measurements are complete, you can verify the result and
tap Finish.
NOTICE
Follow the these guidelines for best Payload Estimation
results:
•
Ensure the TCP positions are as different as
possible from each other
•
Perform the measurements within a short timespan
•
Avoid pulling on the tool and/or attached payload
before and during estimation
•
Robot mounting and angle must be correctly defined
in the installation
User Manual 278 UR5e
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