Z coordinate of TCP Payload C.O.M is negative

[lorepieri8]

In Xarm Studio, when performing the automatic TCP payload calculation I got a negative value for CZ (-50 mm). The payload is about 0.5 Kg and the C.O.M is about 50 mm in the Z direction. I would therefore expect CZ to be 50mm.

My understanding is that the Z direction is coming out of the end flange, so I would expect only positive CZ values to be meaningful (see pag. 145 of the user manual https://cdn.shopify.com/s/files/1/0012/6979/2886/files/xArm_User_Manual-V1.6.9.pdf?v=1618883794).

[penglongxiang]

Hi, indeed z offset of TCP payload should be positive normally. Could you please check if you have already cleared previous payload settings and conduct the identification by mounting the arm horizontally. If you have followed all the instructions correctly and result is still incorrect, please contact our support team at [email protected]. You may download the log through xArm studio and attach it in the email.