How to manage variable box weights with rq_set_box

Context
This article explains how to dynamically adjust the robot payload when palletizing boxes of varying weights. The function rq_set_box_payload() is used to update the box payload value, either based on external signal or force sensor feedback. Proper payload management ensures safer, more stable robot motion.

Method 1 – Using External Weight Signal

This method is faster and more reliable than the force sensor approach, as it directly uses accurate weight values provided by an external system.

Steps:
1. Receive or read the box weight from an external signal (e.g., via PLC, Modbus)
2. Assign the weight to a variable, e.g., box_weight
3. In the grip node, call rq_set_box_payload(box_weight)
Method 2 – Using the Force Sensor

⚠️ Not a scale – only provides approximate weight

Steps:
1. Wait until the sensor is steady
2. Zero the FT Sensor
3. Move down on the box
4. Start vacuum
5. Set approximate payload (optional, for safe lifting)
6. Lift the box
7. Weight the box and call rq_set_box_payload() with the resulting value

Note: Calling rq_set_box_payload() does not immediately change the robot’s active payload. It updates the internal box payload for use when:

Automatically after the Grip Folder, or
When calling rq_use_payload_with_box() manually

This change will apply to all boxes of the same box type.

How to manage variable box weights with rq_set_box_payload()

In some palletizing applications, the box weight can vary from one box to another. This article describes two methods to update the payload dynamically during execution; one using an external weight signal, and one using the force sensor.

Method 1 – Using External Weight Signal

Method 2 – Using the Force Sensor