RobotStudio Study Notes, Part Six: Payload

After the gripper picks up a workpiece, the system load changes. This difference may not be obvious in a simulation, but it must be taken into account in a real system.

1. Open Manual Operation - Payload
2. Create a new payload
3. Modify the program. At the beginning of the program, add the instruction under Settings - gripload
4. Add it above and set the payload to load0
5. After the gripper picks up the workpiece—that is, below the set dol0_1 statement—add another gripload statement and set the payload to load_Box. Similarly, after the gripper releases the workpiece, add another gripload statement and set the payload to load0.