How do i retain payload information between Program stop/play?

General Application Help: How do I?
1

Our application of URs does not generally use a Program for control (instead using ROS and RTDE).

When we swap the UR robot to RTDE we have to stop the running Program (external_control) We set the payload prior to swapping over so it is retained during RTDE control. After swapping back to external_control, by starting the program, the UR robot loses payload information (instead reverting to the default Installation payload).

Is it possible to designate the Custom Payload (Active Payload) as the current payload so that starting the Program does not lose payload information (which causes protective stops)

2

My temporary “fix” is to set some payload variables and then “BeforeStart” do a set_target_payload(my_payload, my_payload_cog) and retain initial variable state from the previous run. it just feels a bit hacky.