Motor current in programing

[laviv]

Hello everybody!
I'm using a zzx200 robot in my material handling aplication.
I'm using AS lang. programing.
My products tend to stick to each other when lifting them, and I want to be able to determine that before I start moving them.
I thought of doing that by reading the motors current in my program.
I found the command "WHERE 10" in the manual and it works fine, but this only a monitor command (in KCwin) that I can not use in my AS program.

Do you know a way of reading the motors current in an AS lang. program?
Or you have other idea of solution?

Thanks in advance..

[TygerDawg]

AS & Adept's V+ language are derivatives of the old VAL language.  The V+ language has a command "MCS <string>" which allows one to run a monitor command in a program.  Perhaps AS has something similar?

[kidekide12]

Hello


What kind of the controller do you use? (I use this command but only in D+ and E controller)

[laviv]

Thanks guys,
Well, there is a command "MC" which allows to run few limited monitor commands in a program, but not the one I need.
 
kidekide12 - I Use the D+ controller.

Maybe there is a way of reading the internal parametrs of the system? (like a "Technician code" or so?)

[kidekide12]

Hello

I was asking about the controller because I think that you mast have controller D+ (2009 not older). But you can tray.

I use IQARM function

Example

I write in autostart.pc

IF IQARM (5)>over THEN
SIGNAL -29
END

That means if current of JT5 =>over sig29 will shut down

You can use also for any other joint

Sorry about my English

[laviv]

WOWWW!!
kidekide12   you are amazing!!
This command works like a charm! It is exactly what I was looking for for more than a week!
Thank you so so much.

I was asking Kawasaki support and even other "experts" and no one could help me!

How come this simple command is not in the manual??
Are there some other magic commands that are out of the manual?

And again: Thank you very much! 

[kidekide12]

Hello

You are correct. A lot of commands are not in manuals. If you need something I will tray to help.