Test signal number

mutti

Hello,
i am trying to log motors positions/speeds and torques from the Tune master log signal utility.
Up to now we managed to log just the torques using 2000 as test signal number.
How do we get positions and speeds?
Is there a list of test signal numbers?
Thanks

Wojtek_L

Hi,
it depends on version of Robotware. At least that is what I suppose after searching and trying a few things.
If you have Robotware 6.05 you can use these numbers I got on other forum.

"The following test signals are available for both robot and additional axes and are predefined in the system. All data is measured on the arm side of the axis.
Test signal           Value    Unit

Position                4000     degrees
Speed                   4001     degrees/second
Torque                  4002     Nm
External Torque    4003     Nm"

This is from rapid manual for version 6.05. 
I currently fight with the same issue as you. I need to read speed signal for each axis on Robotware 6.01. If you find something more than this what I pasted above I would really appreciate.

Wojtek

Wojtek_L

Hi,
it depends on version of Robotware. At least that is what I suppose after searching and trying a few things.
If you have Robotware 6.05 you can use these numbers I got on other forum.

"The following test signals are available for both robot and additional axes and are predefined in the system. All data is measured on the arm side of the axis.
Test signal           Value    Unit

Position                4000     degrees
Speed                   4001     degrees/second
Torque                  4002     Nm
External Torque    4003     Nm"

This is from rapid manual for version 6.05. 
I currently fight with the same issue as you. I need to read speed signal for each axis on Robotware 6.01. If you find something more than this what I pasted above I would really appreciate.

Wojtek