Example:Set
Payload
In a pick and place program, you would create a default payload in the installation. Then
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.
Payload
Transition Time
This is the time it takes the robot to adjust for a given payload. At the bottom of the
screen, you can set the transition time between different payloads.
You can add a payload transition time in seconds.
Setting a transition time larger than zero, prevents the robot from doing a small "jump",
when the payload changes. The program continues while the adjustment is taking
place.
Using the Payload Transition Time is recommended when
picking up or releasing heavy objects or using a vacuum gripper.
19.8. Advanced program nodes
Description The advanced program nodes are used to add additional functionality for your robot
program, such as; subprograms, if-parameters, scripts and loops.
19.8.1. Loop
Description Loops the underlying program commands. Depending on the selection, the underlying
program commands are either looped infinitely, a certain number of times or as long as
the given condition is true. When looping a certain number of times, a dedicated loop
variable (called loop_1 in the screen shot above) is created, which can be used in
expressions within the loop. The loop variable counts from 0to
N
− 1.
UR10e 238 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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