June 26, 2019, 07:00:26 PM
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 Torque type($TORQUE_AXIS_ACT)

normal_post Author Topic:  Torque type($TORQUE_AXIS_ACT)  (Read 185 times)

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June 11, 2019, 04:02:41 PM
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jasslo


Hi!

I find information that system variable $TORQUE_AXIS_ACT return actual torque on motor,s but when I check them, they seem to big and they looks like torque on joints, after gear. Someone could confirm that $TORQUE_AXIS_ACT return actual torque on motor in Nm?
I use:
KR6 r900 sixx with KR C4 compact (KSS 8.5.5)

Thanks in advance :)

Today at 07:00:26 PM
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June 12, 2019, 11:55:55 AM
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Fubini


It is motor torque but given after gear resolution and before axis coupling. Hence if you need it on motor side just use $RAT_MOT_AX zu calculate.

Fubini


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