Payload too large

luisda2994

Hi there! I'm using the IRB1520ID to grab objects. My tool was created from a Smart Component I found here. The thing is I always get this message: "Heavy payload caused static torque limit to be exceeded on joint rob1_4." right at the beginning of the simulation. I changed the mass of the tool several times, even too 0.001 Kg, but I still get the same error. Any idea on how to correct that?

By the way, the robot start at home position and the object it has to grabb is not yet attach.. that make's no sense to me to get the error

Henrik Berlin

What is the value of your tooldata (i.e. the TCP)? Does it work if you use tool0?

Kind regards,

Henrik Berlin

luisda2994

Henrik Berlin said:

What is the value of your tooldata (i.e. the TCP)? Does it work if you use tool0?

Ok, please be patiente with me if I don't give you all the information, I'm just beginning on simulation world.

I used the smart component found here  https://robotapps.robotstudio.com/Details.aspx?fileId=f57fc662-5f9b-4d00-be8d-23a7324b23cf to create a Vacuum Tool. I just put the dimensions but the TCP Position was 0,0,200 by default. 

In the attached image you can see what I did. Then I just attached to tool to the robot, at that's everything I did.

Thanks for you help

Henrik Berlin

I checked the component and it creates a tool with a payload of 18 kg, which is far too much for the selected robot. You can change the payload in RAPID Editor or in the Paths&Target browser of RobotStudio. If you change it in the browser you need to "Synchronize to RAPID" to update the RAPID code.