Payload Weighing

Use this command to weigh the payload carried by the XBot. This command is faster but less accurate than Weigh XBot.

Open

Fieldbus Interface

PMC_GetPayload

Ethernet Interface 

PayloadWeighingReturn PayloadWeighingKg(int xbotID)

Conditions

Description

It is possible to weigh the payload carried by the XBot using the payload weighing command. The resolution is 0.1g, the repeatability is about 1g, and accuracy depends on the calibration. Weighing should be completed with Z = 1mm, Rx = Ry = Rz = 0.

The weighing output is position dependent, to get meaningful results, it is best to always do the weighing from the same position. For all XBots, position it so that 2 edges of the XBot are aligned with 2 edges of the Flyway. For example, for M3-06 (120mm x 120mm), the positions that will provide the most accurate weighing result is at the 4 corners of the Flyway: (X,Y) = (60mm,60mm), (60mm,180mm), (180mm,60mm) and (180mm,180mm).