Forum Migration Notice
Update (2026-01-21): The user forums are now in read-only mode pending the data migration.

Update (2026-01-12): The user forums will be put into read-only mode on the 21st of January, 00:00 CET, to prepare for the data migration.

We're transitioning to a more modern community platform by beginning of next year. Learn about the upcoming changes and what to expect.

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.

Categories

In this Discussion