Basic Characteristics RAPID

loaddata Load data
Description
Components
Loaddata is used to describe loads attached to the mechanical interface of the robot
(the robot’s mounting flange).
Load data usually defines the payload of the robot, i.e. the load held in the robot gripper.
The tool load is specified in the tool data (tooldata) which includes load data.
Specified loads are used to set up a model of the dynamics of the robot so that the robot
movements can be controlled in the best possible way.
If incorrect load data is specified, it often has the following consequences:
- If the specified load data is greater than the value of the true load;
-> The robot will not be used to its maximum capacity
-> Impaired path accuracy including running the risk of overshooting.
- If the specified load data is less than the value of the true load;
-> Impaired path accuracy including running the risk of overshooting.
The payload is connected/disconnected using the instruction GripLoad.
mass Data type: num
The weight of the load in kg.
cog (centre of gravity) Data type: pos
The centre of gravity of the load (x, y and z) in mm.
The centre of gravity of a payload is defined using the tool coordinate system
(the object coordinate system when a stationary tool is used).
The centre of gravity of a tool is defined using the wrist coordinate system.
aom (axes of moment) Data type: orient
The orientation of the axes of moment of the load at the centre of gravity,
expressed as a quaternion (q1, q2, q3 and q4).
The axes of moment of a payload are defined using the tool coordinate system,
with the origin (zero) located at the centre of gravity of the load (see Figure 1) –
the object coordinate system when a stationary tool is used. If the orientation is
defined as q1=1 and q2 ... q4=0, this means that the axes of moment are parallel
to the tool coordinate axes.
RAPID Reference Manual 7-loaddata-1