RAPID reference manual - Technology

InstructionGripLoadRobotWare-OSGripLoad - Defines the payload of the robotGripLoad is used to define the payload which the robot holds in its gripper.This instruction can only be used in the Main task or, if in a MultiMove System, inMotion tasks.DescriptionIt is important to always define the actual tool load and when used, the payload of therobot too. Incorrect definitions of load data can result in overloading of the robotmechanical structure.When incorrect load data is specified, it can often lead to the following consequences:- If the value in the specified load data is greater than that of the value of the trueload;-> The robot will not be used to its maximum capacity-> Impaired path accuracy including a risk of overshootingIf the value in the specified load data is less than the value of the true load;-> Impaired path accuracy including a risk of overshooting-> Risk of overloading the mechanical structureExamplesGripLoad piece1;The robot gripper holds a load called piece1.GripLoad load0;The robot gripper releases all loads.ArgumentsGripLoadLoadLoadData type: loaddataThe load data that describes the current payload.RAPID reference manual - part 1a, Instructions A-R 127