RobotStudio event

EGM measuredForce and testSignals

csmith
csmith ✭
edited February 2020 in RAPID Programming
Looking at the egm.proto I can see that measuredForce and testSignals are defined messages, but I can't find any information about them.
What do those signals represent and how can they be set inside RS?

Thank you

Comments

  • pobal
    pobal ✭
    You can see the measured force signal when you activate Force Control, e.g. using  RAPID instruction FCAct. The controler then sends three measured force values and three measured torque values. I tested that on the real controler. Unfortunately I don't know what enforce the controler to send test signal values.
  • j_proulxFB
    j_proulxFB ✭
    download RobotWare Tools and Utilities from RS website. Use Test Signal Viewer. See pages 110 , 327, 2328 in the FC Application Manual.

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