Monitor Speed and Torque of joints

RobotStudio
1

Hi there!

I am trying to monitor the speed and torque of each joint of my robot but I can’t manage to find those signals in the Signal Analyzer, only the TCP speed. ¿Is there a way of monitoring those values?

Thanks in advance,

Alvaro

2

Which version of RW? RW 6 introduced GetMotorTorque

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3

Exactly, I have RW6. Where do you look for those functions?

4

In the Technical Reference Manual - Rapid Instructions, Functions, and Data Types

5

Hey there!

For what I’ve seen, GetMotorTorque is generally used to compared at a given time the torque of an axis and use it to trigger an event. However, I intended to plot the torque values of each axes, does someone know a smart way to do that?

I’ve tried with TestSignDefine but I have no idea as for how to access the data that is being monitored.

Thanks in advance,

Alvaro

6

You need to use TestSignRead with TestSignDefine

7

All rigth, I’ve added both functions to my RAPID code, but now then, where can I see the resulting data in the channel?
Thanks for your response, I recently started working with RobotStudio so I appreciate the help.

8

Create a NUM variable to store the torque value, then write the value to the teach pendant using TPWrite. This should work with GetMotorTorque as well.

9

Thanks a lot!

I ended up using Write instead of TPWrite in order to export it to Notepad. I used a timer that triggers each 0.1s and calls a TRAP where I read the torque and write it. However, 0.1seconds isn’t the most accurate sampling time but it looks like I can’t reduce it. Do you know a smarter way of reading (and then writing) the torque value?

Thanks in advance,

Alvaro

10

You could set up 6 analog outputs and use a for loop to iterate through the TestSignDefine and TestSignRead..here is a very incomplete example:

        FOR ii FROM 1 TO 6 DO
            TestSignDefine ii, 4002, ROB_1, ii, 0.004;
        ENDFOR

and then

        VAR num torques{6};
                
        WHILE TRUE DO
            
            FOR ii FROM 1 TO 6 DO
                torques{ii} := TestSignRead(ii);
            ENDFOR  
            
            SetAO motorTorque1, torques{1};
            SetAO motorTorque2, torques{2};
            SetAO motorTorque3, torques{3};
            SetAO motorTorque4, torques{4};
            SetAO motorTorque5, torques{5};
            SetAO motorTorque6, torques{6};
            
            WaitTime 0.004;
        
        ENDWHILE