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

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

On firmware before DRCF v3.3.0 and v2.12.1, a workpiece weight is applied only in a collision-mute (high-priority) zone; running outside it with a non-zero weight raises an SS1 protective stop, and the controller can raise a further alarm. On v3.3.0 or later and v2.12.1 or later these checks do not apply.
On DRCF v3.3 or later and v2.12.1 or later, the controller applies the new payload only while the robot is not moving.
If the robot stops due to an error and needs to be manually restored, place the robot in the desired position in Recovery mode and unload the workpiece through Servo On and I/O operation while the corresponding zones are activated in Auto mode.
When the tool weight is changed, the workpiece weight is reset to 0.
When calling set_tool and set_workpiece_weight in succession, you must call the wait function between them for transition_time. Otherwise, errors can occur 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_REFERENCE	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. -10000 = not specified; the controller uses its automatic value.
fTransitionTIme	float	-10000	Transition time (in seconds) for gradually applying weight change. -10000 = not specified; the controller uses its automatic value.

Return

Value	Description
0	The call was refused.
1	No refusal was received. A return of true does not confirm that the setting was applied.

Example

// Apply new workpiece weight (2.5 kg) with COG at (0, 0, 50 mm)
float fCog[3] = {0.f, 0.f, 50.f};
if (!drfl.set_workpiece_weight(2.5f, fCog))
    printf("set_workpiece_weight was refused.\n");

This example sets a workpiece weight of 2.5 kg with its center of gravity at (0, 0, 50) mm.