---
title: Robot Mounting and Payload
description: "The [onboarding wizard](/docs/getting-started-first-time-setup/)'s **Mounting** and **Payload** steps tell the robot how it is physically installed and how much weight it carries, so it can compensate for gravity correctly. You can set both directly in PolyScope. As these are standard Universal…"
url: "https://hub.smooth-robotics.com/docs/getting-started-robot-mounting-payload/"
updated: "2026-09-23"
category: Getting Started
---

# Robot Mounting and Payload

The [onboarding wizard](/docs/getting-started-first-time-setup/)'s **Mounting** and **Payload** steps tell the robot how it is physically installed and how much weight it carries, so it can compensate for gravity correctly. You can set both directly in PolyScope. As these are standard Universal Robots PolyScope X screens, always refer to Universal Robots' own user manual for the most up-to-date and complete instructions.

Caution

Mounting and payload affect the robot's motion and safety behaviour. Enter values that match your real installation.

## Mounting

1. From the **Application** view, tap **Mounting**.

 ![Application page — Mounting tile](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-robot-mounting-payload-mounting-application-tile.webp)

1. Set the **Rotation** and **Tilt** angles to match how the robot is physically mounted (for example, on a wall or at an angle). For a robot mounted upright on a level surface, both remain **0°**.

 ![Mounting page — Rotation and Tilt](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-robot-mounting-payload-mounting-page.webp)

## Payload

1. From the **Application** view, tap **End Effectors**.

 ![Application page — End Effectors tile](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-robot-mounting-payload-payload-application-tile.webp)

1. Payload is set on your tool's end effector. The built-in **Robot** flange is read-only, so add one with **Add End Effector** if you haven't already (see [TCP Configuration](/docs/getting-started-tcp-configuration/)). With it selected, under **Payload** enter the total mass attached to the tool flange (torch, cabling and any fixtures) and the **Center of Gravity** offsets (CX, CY, CZ).

 ![End Effectors — Payload mass and center of gravity](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-robot-mounting-payload-payload-page.webp)

Warning

SmoothTool X recognizes the end effector only when it is named exactly **Custom** (with a TCP named **Custom_TCP**) — the same tool its onboarding wizard creates. Rename a new end effector to **Custom** via its **⋮** menu → **Rename**. See [TCP Configuration](/docs/getting-started-tcp-configuration/) for details.

Note

The payload is the combined weight at the end of the arm. Include the welding torch and everything mounted with it.

### Estimate the payload automatically

If you don't know the exact mass and center of gravity, use the built-in payload **estimation wizard** provided by Universal Robots.

1. Under the end effector, tap the payload **estimation wizard** button next to the payload value.

 ![End Effectors — payload estimation wizard button](https://hub.smooth-robotics.com/wp-content/uploads/2026/09/manual-getting-started-robot-mounting-payload-payload-wizard-button.webp)

1. Follow the wizard. It moves the robot through **four distinct positions** and measures the joint torques at each to calculate the payload mass and center of gravity automatically.