Basic Characteristics RAPID

Examples
Limitations
Predefined data
iz (inertia z) Data type: num
The moment of inertia of the load around the z’-axis, expressed in kgm 2 .
For more information, see ix.
PERS loaddata piece1 := [ 5, [50, 0, 50], [1, 0, 0, 0], 0, 0, 0];
The payload in Figure 1 is described using the following values:
- Weight 5 kg.
- The centre of gravity is x = 50, y = 0 and z = 50 mm in the tool coordinate system.
- The payload is a spot load.
Set gripper;
WaitTime 0.3;
GripLoad piece1;
Connection of the payload, piece1, specified at the same time as the robot grips
the load piece1.
Reset gripper;
WaitTime 0.3;
GripLoad load0;
Disconnection of a payload, specified at the same time as the robot releases a
payload.
The payload should only be defined as a persistent variable (PERS) and not within a
routine. Current values are then saved when storing the program on diskette and are
retrieved on loading.
Arguments of the type load data in the GripLoad instruction should only be an entire
persistent (not array element or record component).
The load load0 defines a payload, the weight of which is equal to 0 kg, i.e. no load at
all. This load is used as the argument in the instruction GripLoad to disconnect a payload.
RAPID Reference Manual 7-loaddata-3