Actual torque of motors

Robot Controller
1

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

2

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

3

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.

4

Any ideas?

5

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

6

Thank you! That’s exactly what I need.

G.