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
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.
download RobotWare Tools and Utilities from RS website. Use Test Signal Viewer. See pages 110 , 327, 2328 in the FC Application Manual.
ForceControl_RW6_3HAC050377-001_revF.pdf (7.11 MB)