Hello,
The robot needs accurate payload information so it can compensate correctly. Proper payload settings help maintain the integrity of the robot’s path, the safety settings, and the mechanical health of the robot.
Honestly, you shouldn’t “see a difference” in your robot if you’re setting the payload correctly. It’s motion and performance should be smooth and seamless with an empty gripper and while holding a product if the payload is set correctly.
Incorrect payload settings often reveal themselves as random protective stops. Imagine the following:
You’re empty gripper is 2.3kg. You pick up your part, total payload is 4.3 kg, but you don’t tell the robot that. Then you tell the robot to travel at max speed and acceleration. When you get to the end of your move, the robot has done a bunch of background calculations to determine the deceleration profile so the robot stops smoothly and reaches the waypoint you set. However, those calculations are based on a 2.3kg payload. Since you’re holding 4.3kg now, it’s likely the robot won’t stop in time and miss the target point, which will result in a position deviation protective stop.
Sometimes, the discrepancy may not be enough to create a protective stop, but it is still putting easily preventable wear on your robot.
Keep doing what you’re doing. Also, after releasing your part, don’t forget to return the payload back to that of the empty gripper. You should also consider the center of gravity of the gripper and gripper+part system. If you have CAD data, it’s easy to pull CoG data from there. If not, it will need to be hand calculated. The link below has a CoG calculation example.
Edit: If you have an e-series robot, the robot also has the payload and CoG wizard you should use if you don’t have accurate data. This uses the built in force-torque sensor on the robot to calculate the payload and CoG for you. You can run it for the empty gripper and while the gripper is holding a part.