I 'd like to know if there is a variable that increases the torque value received, because I can not vary much torque values today.
My program worked but softens little, I would like major variations, how do this?
I know the value of the variable ($ HOLDING_TORQUE) must be less than the value of the variable ($ TORQUE_AXIS_MAX), but where do I change this variable?
My actual Program works, but it softens less, check!
DEF Torque_Mode( )
DECL TorqLimitParam myLimits
loop
myLimits.monitor=#off
myLimits.lower=$holding_torque[5] -20 <---------- I want to increase more!
myLimits.upper=$holding_torque[5] +20
myLimits.lower=$holding_torque[6] -20
myLimits.upper=$holding_torque[6] +20
myLimits.lower=$holding_torque[1] -20
myLimits.upper=$holding_torque[1] +20
SET_TORQUE_LIMITS (1, myLimits)
SET_TORQUE_LIMITS (5, myLimits)
SET_TORQUE_LIMITS (6, myLimits)
;
PTP $AXIS_ACT
WAIT SEC 4
PTP P4
RESET_TORQUE_LIMITS (5)
RESET_TORQUE_LIMITS (6)
RESET_TORQUE_LIMITS (1)
PTP HOME
Sorry for my bad inglesh!