Universal Robots Polyscope Installation Manual page 6

PAYLOAD CONFIGURATION
• Calculate the combined CoG offset of the gripper
• holding the product:
• When picking/placing update using script command in
program:
• set_payload(mass, CoG)
• mass = payload weight in kilograms (kg)
• CoG = a list of three positions [ Cx, Cy, Cz ] in meters (m)
• We only have Cz offset in this example, so Cx and Cy = 0