Actual torque of motors

RAPID Programming
1

Hi,

Have a 5.15 Robot and Having a problem getting motor Torque on Axis 5 with TestSignal

Basically polishing and want to know when polishing wheel hits part on robot.

VAR num motor_torque2;
VAR num motor_torque3;
TestSignReset;
TestSignDefine 2, 4002, ROB_1, 5,0;
motor_torque3 := TestSignRead(2);

Above is my code, but it is not working, says Execution Error 40799 - Trying to Use Channel with No Defined Signal.

Same error when I try “Speed” or 4001 for Signal ID

Any Ideas?

Thanks

2

Hi.

Don´t Know if this available on 5.15 but in another application I use

nJointTorqueRob2{1}:=GetMotorTorque(\MecUnit:=ROB_2,1);
where “nJointTorqueRob2{1}” is just a num array of 6.

Use it either in a PLC Task, or in an interrupt (iTimer)

Hope this helps

3

I have same error with this, how to solved this?

4

As per the answer above use the RAPID function GetMotorTorque.

Below is the example from the RAPID manual:

VAR num motor_torque2;

motor_torque2 := GetMotorTorque(2);

The current motor torque of the second axis of the robot is stored in the variable motor_torque2.

5

I have try that, and use iTimer, but the result is always <0.5 and -0, even the robot pull the part or not

6

GetMotorToque is only available from RW6.0 and later.

You have to use TestSignRead and associated TestSignDefine for RW4 and RW5.

7

Yes, the robot use RW6.08.01, is it need any software option?

8

It appears to be a be RobotWare Function.