Estimate Payload Demo Error

Technical Questions Report a Bug
1

This issue relates to the article on the support site ESTIMATE_PAYLOAD URSCRIPT FUNCTION

We have downloaded the demo urp file from Universal Robots - estimate_payload urscript function and we are having several issues.

  1. The last line of the urp file is trying to set payload using est_payload.CoG and we get an error stating the struct does not have a CoG property. This needs to be corrected to read est_payload.cog

  2. We have run the program several times on several different robots running 5.16 and we are getting crashes where the controller drops out. We have to reinitialize and resume the program, which will finish without issue. Once, the robot dropped out and then reinitialized itself and all we had to do was press play to resume from where it stopped. This is not reporting anything to the log when we check any of the log types (info, warning, error)

  3. Running on 5.17 does not seem to have the same issues once the last line of the program is corrected or suppressed.

Also, not sure if this is any of the notes around the struct but might be good to mention that the struct variable will not appear in the variables list, we added two new variables mass and cog, and assigned them the value from the struct property so that we can see the values on the screen. Otherwise, there is no way to know what the values that are being sent to the controller for setting the payload are so you cannot enter them into the installation file.