ST_aspACLD (Statement) [Version 1.9 or later]


Changes the internal load condition values. There are the mass of payload, noted in grams (g), and the payload center of gravity, noted in millimeters (mm), for the load condition values. Designate both of them. (See Note1.)


ST_aspACLD <Mass of payload>, <Payload center of gravity coordinate X >, <Payload center of gravity coordinate Y>, <Payload center of gravity coordinate Z>
Note1: For 4-axes robot, <Payload center of gravity coordinate Z> is replaced with <Inertia of payload (kgcm2)>


(Example for 6-axces robot)
The mass of payload is the mass of load (tool and workpiece) mounted on the 6th axis of the robot. This unit is designated as (g).
For the load center of gravity position, designate the payload center of gravity using the TOOL0 coordinates. The unit is millimeters (mm). (See Note1.)
The reference position of the TOOL0 coordinates is in the center of the 6th axis flange. For component Y, the direction is from the flange center to the pinhole of φ5H7 (orientation vector direction). For component Z, the direction is vertical to the flange surface through the flange center (approach vector direction). For component X, the direction of the X axis (normal vector direction) is the right-hand coordinate system, when the orientation vector is set to the Y axis and the approach vector is set to the Z axis. Refer to 4.7 "Setting the Master Control Parameters in User Preferences".
Even if you change only one of the four values of the mass of payload, the payload center of gravity X6, the payload center of gravity Y6, and payload center of gravity Z6 ,describe all of the 4 values again.
It takes about 0.1 sec. to switch the load condition values. Frequently switching the load condition may cause operational delays. Do not change the mode during pass motion while near an obstacle because the path locus may shift. This may delay switching if you change the load condition values.


Refer to the Programmer's Manual, "4.7 Control Set of Motion Optimization in User Preferences."


  • For the mass of payload, designate it with a numerical value of the specified range for each robot type. If you designate a value out of this range, the error message "60d2 Mass of payload out of setting range" will be displayed.
  • For the payload center of gravity, enter it so that it satisfies the specified range for each robot type. If it is out of this range, the error message "60d2 Mass of payload out of setting range" will be displayed.
  • When setting the internal payload condition, observe the following rule relative to the external payload condition. If not, the error message "60d2 Mass of payload out of setting range" will be displayed.
    0.5 x External payload condition ≤ Internal payload condition ≤ External payload condition


ST_aspACLD 8500,-50,100,80
'Sets the internal payload conditions.
'Mass of payload:8500(g), Payload center of
'gravity component X: -50(mm), component Y:
'100(mm),component Z: 80(mm)


Top