Speed and payload

Changing the speed

The speed control scales how fast the cell runs, from a crawl to full rate. It changes speed only: the robot follows exactly the same path, so slowing down is always safe and is the right thing to do while watching a new recipe for the first time.

Speed is not remembered between runs on purpose. A cell that was slowed for a good reason yesterday should not quietly still be slow today.

What payload means

The payload is what the tool is carrying. The robot uses it to decide how hard to accelerate and how to hold a position — a heavy box needs to be moved differently from an empty gripper.

The cell asks you to confirm the payload during initialisation, because it has no sensor that can tell it.

Payload mismatch

Tool payload differs from the declared one means what the cell believes it is carrying does not match what it measures.

Stop and look at the tool. Either it is holding something it should not be — a box that was never released — or it is empty when the cell thinks it is loaded. Correct the payload at the next initialisation rather than continuing: a robot moving with the wrong payload is a robot moving with the wrong forces.