Tool load when exchanging end effector
I have IRB1600 with exchangeable end effectors (welding heads). To move to and from tool magazine I'm using MoveL command with tool ConnectingFlange( TCP [0,0,34.5]). It's beneficial in two ways, robtargets are same for all tools and I can reorient robot around ConnectingFlange TCP.
Problem is, that tooldata of ConnectingFlange is not matching weight and cog of the real tool, which is connect to the robot.
Should I add Total load [ \TLoad ] parameter to move instruction or what is proper way to do this?