Actual torque of motors

fremebondo

Hi everyone,

I was wondering if there is a way to get the actual value of motors torque in RAPID programming, in order to take decisions depending on their values.

Anyone managed to do that?

Thanks a lot,

Gabriele

soup

Just curious -- what would you do with motor torque values? Detect a hit to be used in a search?

fremebondo

I want to measure the torque of all joints in a precise joint configuration during tuning, then compare all these torques at run time, when the robot is in the same joint config, to verify if the payload held by a gripper has changed.

fremebondo

Any ideas?

Micky

Hi,

in RobotWare 6.0 a new function "GetMotorTorque" is introduced.

In the older RobotWare you can maybe use the TestSignal instructions (TestSignDefine and TestSignRead) to get the motor torque.

 

BR

Micky

fremebondo

Micky said:

Hi,

in RobotWare 6.0 a new function "GetMotorTorque" is introduced.

In the older RobotWare you can maybe use the TestSignal instructions (TestSignDefine and TestSignRead) to get the motor torque.

 

BR

Micky

Thank you! That's exactly what I need.

G.