Mass object doesn't affect robot cycle time

[Sjonnie]

Hello,

I’m kinda new here but I have a question related to robot cycle times. The robot picks up blocks from the conveyor belt. I have given the blocks a mass of 25kg and 100kg respectively with the Physics Entity.

However this does not affect the cycletimes of the robotmovements, while I expect the cycletimes for the block with a mass of 100 kg to take longer than for the block with a mass of 25 kg because of the load on the robot.

Does anyone know why that is the case?

[TSy]

See these topics. I think in KUKA.Sim (or KUKA.Sim add-on for VC) with RCS you can separately define mass data for tools and it does something with that info.

Monitor speed and acceleration of joints

Hi, Cycle times in VC are only estimates. Robot models are modeled to have real speed characteristics for joints but the acceleration is not accurate because VC robots don’t have dynamic model. That is the joint always accelerates the same way regardless what the load is. So for example joint 1 accelerates the same with extended arm and contracted arm and this is not the case in real robots. -k

Visual Components Vs. Kuka Sim

Generally any difference comes from different level of simulation, and difference in motion planning logic. VC’s motion planning is “general purpose” so the real KUKA controller logic probably differs in many special cases. KUKA.Sim uses KUKA’s own robot controller simulator (RCS module), so the logic should be the same as on real robot controller, or at least very close to it. The VC motion planning and simulation doesn’t take into account e.g. dynamics of the robot, so a robot arm with high …

[Sjonnie]

So if I understand correctly, the load on the robot does not affect the acceleration and speed characteristics whats however?

I am currently not using any robot add-ons, Im using VC Professional, not Premium.

Are there any add-ons or models/scripts that implements the effect of a load on robots?

[AlexUCR]

I have he same question.
We are also using VC Pro.

Today we did a cycle time test in reality with picking and placing a load.
The cycle time was 19s instead of 14s via the simulation.
The gap is most likely created by the missing load data in VC.

In VC i cannot find any option to fill in some load data into tool data or additionall mass data.
Is it possible in other VC versions?
I am not only talking about KUKA but more about cobots and other industrial robot manufacturers.