Torque Mode Settings

    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! :icon_smile:

    Hello. I need a little help, please
    On robot KRC4 in whant set Axe 5 to Soft Servo. When i set the UPPER and LOWER Limits like is down, i can to raise axis 5 with hand easely. This is when i set UPPER Limits, but i whant if i have external force on Axe 5 to negative way. How can i set this limits? I've tried a lot of variants from 0 to 2000

    My part of program for soft servo is like thise:


    DEF TORQUE_MODE1( )
    DECL TorqLimitParam myLimits1
    DECL TorqLimitParam myLimits5
    DECL TorqLimitParam myLimits6


    PTP 1

    ;axe 5
    myLimits5.MONITOR=#OFF
    myLimits5.MAX_LAG=250
    myLimits5.LOWER=$HOLDING_TORQUE[5] -1000
    myLimits5.UPPER=$HOLDING_TORQUE[5] +500 How can i set this UPPER limit if i whant with external force release from UP to DOWN (I wish that the axis is moving slowly down with external axe)?


    SET_TORQUE_LIMITS(1, myLimits1)
    SET_TORQUE_LIMITS(5, myLimits5)
    SET_TORQUE_LIMITS(6, myLimits6)

    PTP 2

    ;WAIT Time=10 sec


    PTP $AXIS_ACT


    RESET_TORQUE_LIMITS(5)

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