You're reading the documentation for an older, but still supported version (GL013300).
For information on the latest version, please have a look at GL013301.

set_workpiece_weight

This function configures the weight and center of gravity (COG) of the currently mounted workpiece. It combines the tool parameters (set via set_tool) with the workpiece’s own weight and balance information to calculate the total end-effector dynamics used in control and safety calculations.

It is particularly useful for tasks where the workpiece mass changes dynamically or multiple payloads are handled.

Definition
DRFLEx.h within class CDRFLEx, public section (line 677)

bool set_workpiece_weight(
    float fWeight = 0.0,
    float fCog[3] = COG_DEFAULT,
    COG_REFERENCE eCogRef = COG_REFERENCE_TCP,
    ADD_UP eAddUp = ADD_UP_REPLACE,
    float fStartTime = -10000,
    float fTransitionTime = -10000
) {
    return _set_workpiece_weight(_rbtCtrl, fWeight, fCog, eCogRef, eAddUp, fStartTime, fTransitionTime);
};

Caution

Workpiece weight change is allowed only when both Collision Detection and TCP SLF Violation check are muted or disabled during Auto Mode.
In the current version, Collision Detection considers the function mute when Collision Sensitivity is overridden to 0 and TCP SLF considers the function mute when the TCP SLF Limit is overridden to the maximum. This override can be set using Collision Sensitivity Reduction Zone and Custom Zone.
Otherwise, trigger an SS1 protective stop unless the workpiece weight is set to zero.
If the robot stops due to an error and needs to be manually restored, place the robot in the desired position in the Recovery Mode and unload the workpiece through Servo On and I/O operation while the corresponding zones are activated in Auto Mode.
When changing the set tool weight, the workpiece weight is initialized to 0.
When using the set_tool and set_workpiece_weight in succession, you must use the wait function as much as transition_time between time. Otherwise, there may be errors in the weight change.

Parameter

Parameter Name	Data Type	Default Value	Description
fWeight	float	0.0	Workpiece weight in kilograms (kg).
fCog	float[3]	[0, 0, 0]	Center of gravity of the workpiece in millimeters [x, y, z].
eCogRef	COG_REFERNCE	COG_REFERENCE_TCP	Reference coordinate system for the COG.
eAddUp	ADD_UP	ADD_UP_REPLACE	Behavior when updating workpiece info DR_REPLACE(0): Replace existing workpiece DR_ADD(1): Add workpiece data DR_REMOVE(2): Remove existing workpiece
fStartTime	float	-10000	Start time (in seconds) for the workpiece weight change.
fTransitionTime	float	-10000	Transition time (in seconds) for gradually applying weight change.

Return

Value	Description
0	Error — workpiece weight not applied
1	Success — weight and COG information successfully updated

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // Set safety mode to autonomous before changing payload info
    drfl.set_safety_mode(SAFETY_MODE_AUTONOMOUS, SAFETY_MODE_EVENT_NONE);

    // Apply new workpiece weight (2.5 kg) with COG at (0, 0, 50 mm)
    float fCog[3] = {0.f, 0.f, 50.f};
    drfl.set_workpiece_weight(2.5f, fCog);

    // Stop autonomous mode once weight setting is done
    drfl.set_safety_mode(SAFETY_MODE_AUTONOMOUS, SAFETY_MODE_EVENT_STOP);
}

This example demonstrates how to safely apply a new workpiece weight and COG configuration while switching to autonomous mode to ensure smooth transition without triggering safety stops.