Payload Estimation Function

Payload estimation function is a function to estimate the mass of payload and the center of gravity by making robot perform specific movement. This function can be used when setting "Mass of payload" and "Payload center of gravity".

Outline of Motion When Measuring

Robot operates through the motion path in 1 to 3 ways according to measuring objects.
Ensure that there is no interference between the robot and equipment in the lower speed motion because the motions at lower and higher speed are performed at each operation path.
When in the lower speed motion, the robot performs at the 10% of speed and acceleration in its higher speed motion.

Maximum Travel Distance

Robot moves automatically when measuring.

After moving to the + direction, the robot returns to the start position.

Mass of Payload

Motion axis	Motion 1
	Start point of motion	Travel distance
J3	90°	1°
J5	0°	1°

Payload Center of Gravity

Motion axis	Motion 1		Motion 2		Motion 3
	Start point of motion	Travel distance	Start point of motion	Travel distance	Start point of motion	Travel distance
J5	0°	-	0°	-	0°	1°
J6	90°	1°	0°	1°	0°	-

Operation Procedures

For each operation procedure of measurement, refer to the following sections.

• Auto Measuring Mass of Payload
• Auto Measuring Payload Center of Gravity

When you perform auto measuring, do the Mass of Payload first, and then Payload center of gravity. If you execute in different order, the measurement result could be incorrect.
If the calculation values of the Mass of Payload and Payload center of gravity have been identified, enter these values. In this case, you do not need to perform the Auto measuring.