Universal Robots UR12e User Manual page 93

7.11.4. 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:
Set Payload
Use the Set
Payload
command
Tip You can also use the Set Now button to set the values on the node as the active payload.
Use tip Remember to always update your payload when making any changes to the
configuration of the robot program.
Example: Set In a pick and place program, you would create a default payload in the installation. Then
Payload you add a Set Payload when picking up an object. You would update the payload after
the gripper closes, but before starting to move.
Additionally, you would use the Set Payload after the object has been released.
User Manual
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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.
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When setting up the payload for use in a pick and place program, using a gripper.
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.
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