How to change Fanuc payload programatically?
Hi everyone,
I'm using the Fanuc CRX-10iA/L for a pick and place application on ROS Noetic and I’d like some help with making the robot lift more weight without complaining.
We have a 5kg gripper that must pick up objects weighing up to 3kg, one at a time.
In the initial grasping posture, the object is far away from the gripper as it extends out to grab it, causing the robot to throw a warning and stop due to excessive force. We can, however, move the robot without warnings once the object is already grasped.
Using a fixed payload has worked for lighter objects, however, if we set the fixed payload to work when picking up the heavy item, the robot fails when the gripper is empty. So now we apparently need a different payload configuration to switch to when carrying the heavy item.
On the state machine, I know exactly when that happens to trigger the payload change and there's a TP program named changed payload.
How can I call it programmatically?
Is there a way to run a Karel script or something like that from the CLI / C++ code?
I’m glad to provide more details as needed. Thanks!