reset_workpiece_weight (Auto Mode)

This section explains how to use reset_workpiece_weight during Auto (Run) operations to clear the currently configured workpiece weight. After this call, the robot considers only the tool payload, effectively returning the system to an empty-gripper state.

This function is typically used after the robot releases a part, or when switching from loaded to unloaded cycles.

Typical usage

  • Clear payload after placing or unloading a workpiece.

  • Transition between loaded/unloaded sequences in palletizing.

  • Improve torque estimation accuracy when gripping state changes.

  • Ensure Auto Mode behaves correctly when no part is held.

Note

  • Use this function only when the robot is confirmed to be empty-handed.

  • Ensures stable motion planning when switching between different work cycles.

Example: Resetting Workpiece Payload After Unloading

#include "DRFLEx.h"
#include <cstdio>
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // After placing the part on a conveyor or pallet
    if (!drfl.reset_workpiece_weight()) {
        printf("Failed to reset workpiece weight.\n");
        return -1;
    }

    // Continue Auto Mode operations with empty payload
    float home[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f};
    drfl.movej(home, 50.f, 30.f);

    return 0;
}

In this example, the robot clears its workpiece configuration after unloading the part. This ensures that subsequent Auto Mode movements use the correct (empty-gripper) payload parameters.

Tips

  • Call immediately after releasing a part to maintain correct payload data.

  • Combine with set_workpiece_weight when alternating between pick and place cycles.

  • Incorrect payload reset may cause inconsistent force control performance.

  • Recommended for palletizing, machine tending, and repetitive loading tasks.