# How to make IRB6400R to work with RS

**URL:** <https://tech-community.robotics.abb.com/t/how-to-make-irb6400r-to-work-with-rs/6346>\
**Category:** RobotStudio\
**Tags:** irb6400r\
**Created:** [November 4, 2014, 7:24am UTC](https://tech-community.robotics.abb.com/t/how-to-make-irb6400r-to-work-with-rs/6346 "2014-11-04T07:24:38Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![msalminen](https://avatars.discourse-cdn.com/v4/letter/m/d07c76/32.png) [@msalminen](https://tech-community.robotics.abb.com/u/msalminen)\
**Post date:** [November 4, 2014, 7:24am UTC](https://tech-community.robotics.abb.com/t/how-to-make-irb6400r-to-work-with-rs/6346/1 "2014-11-04T07:24:38Z")

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Hi,

I have IRB6400R-28-150 in my RS station created by using System Builder. No problems there.

When trying to ‘Move Along Path’ I get following error.

error 50140: Payload too Large. Heavy payload caused static torgue limit to be exceeded on joint rob1\_2.

I have defined in tooldata the weight to be 50kg and cog as (0, 0, 130), so the load should be ok.

How to fix this and make the IRB6400R to work?

Mika

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**Author:** ![msalminen](https://avatars.discourse-cdn.com/v4/letter/m/d07c76/32.png) [@msalminen](https://tech-community.robotics.abb.com/u/msalminen)\
**Post date:** [November 4, 2014, 8:27am UTC](https://tech-community.robotics.abb.com/t/how-to-make-irb6400r-to-work-with-rs/6346/2 "2014-11-04T08:27:24Z")

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Never mind I fix it

Mika

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**Author:** ![jaarancibia](https://avatars.discourse-cdn.com/v4/letter/j/9fc348/32.png) [@jaarancibia](https://tech-community.robotics.abb.com/u/jaarancibia)\
**Post date:** [November 4, 2014, 4:31pm UTC](https://tech-community.robotics.abb.com/t/how-to-make-irb6400r-to-work-with-rs/6346/3 "2014-11-04T16:31:17Z")

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> [@msalminen](#):
>
> Never mind I fix it
> 
> Mika

How you did it?

Regars

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**Author:** ![msalminen](https://avatars.discourse-cdn.com/v4/letter/m/d07c76/32.png) [@msalminen](https://tech-community.robotics.abb.com/u/msalminen)\
**Post date:** [November 7, 2014, 6:46am UTC](https://tech-community.robotics.abb.com/t/how-to-make-irb6400r-to-work-with-rs/6346/4 "2014-11-07T06:46:01Z")

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I forget to add xx-xxxxx\_SAC.kxt when I created the system. So I build the new system and add SAC.

That solve my problem.

Mika