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Servogrippper 7-ax SG-proces.

Is ther any one that have don a  servogrippper whit 7 axsis?

use the "SG process"  in the moc.cfg to measure and Control torque while moving parts?
Did you use any of ABB mu10 mu20 mu30? 

is this the only and best forum for technical issues on ABB IRC5 systems and config questions?