Torque Mode Settings

mhasman · May 21, 2014 at 1:54 PM

Good morning!

I am making an application in a machine injector, so I'm using the torque mode for this application. All this being done as expected, but there is a small problem. The piece that is ejected from the machine is very fragile and requires a certain "force" to push the claw of the robot during injection, the problem is that the drag is too high causing damage to the workpiece during movement of the injector.
The question is?
What parameter should be modified so that I can soften the axes, especially the A1 to the point that I can push the robot with more tranquility. The maximum possible.
Another question.
Where can I find parameter $ holding_torque? Which folder?
In short I need to soften the shaft to the point of getting pushes it with my hands ..
Detail: The axes are already smoothed but I need much more smooth, as in the ABB robot that depending on the amount of smoothing you can even bring down the Axis, hope you understood my question, sorry for bad english!

Thank you!

**SkyeFire** · May 22, 2014 at 6:43 PM

Robot model? Controller version? KSS version?

$CURR_RED is the system variable that controls the stiffness of an axis in Torque (soft-servo) mode. $CURR_RED is a two-dimensional array of dimension [x,y], where X is the number of the axis and Y=1 for the axis' stiffness in the positive motion direction, and Y=2 is for the negative direction.
For A1, the minimum setting would be $CURR_RED[1,1]=1 if the mold ejector is pushing A1 in the positive direction. The value varies from 1 to 100, representing % of maximum motor torque.

mhasman · May 26, 2014 at 6:55 PM

Robot Model: KR180R2500 EXTRA C4 FLR
Controller Model: KRC 4
Software Version: v8.2

mhasman · May 28, 2014 at 12:23 PM

Doesn't work this variable in KRC4! The form that must be make in the KRC4 is different from the KRC1 or 2. Someone else know which variable is responsable for this stiffness?

Fubini · May 28, 2014 at 12:36 PM

Have you seen these posts:

https://www.robot-forum.com/robotforum/kuk…38078/#msg38078

https://www.robot-forum.com/robotforum/kuk…57174/#msg57174

Fubini

mhasman · May 29, 2014 at 2:18 PM

Yes I saw!

I posted the last.

mhasman · May 29, 2014 at 2:44 PM

I think that you don't understand me!

My program works, but the problem is that, I need more Smoothness.
When i work with the robot models like the heavy series there is normal or natural torque of the brakes, this is necessary for the robot do not drop down when you active the function torque mode. My problem is that, when the robot ejector expels the assembly (part) while the robot handles to, the kneading part because it is very fragile.
Is it possible to smooth until for example i can to push the robot with my hands quietly?

mhasman · May 29, 2014 at 2:50 PM

one another!

where i found this variable ($TORQUE_AXIS_MAX[]) ? Which FOLD or Archieve?
I believe that could be this variable the responsible for the smoothness.

Sorry for my terrible inglesh!

**SkyeFire** · May 29, 2014 at 11:56 PM

$TORQUE_AXIS_MAX appears to be an inherent limit of the robot motor drive. There appears to be no means to alter it, and doing so would probably be dangerous.

The robot is going to have a certain amount of inertia and internal friction that will not be reduced, even if the motor's torque is set to 0. Even if you are using Soft mode on A1, which is the only axis for which a torque of 0 is safe, there will be a natural degree of resistance to being moved by outside forces. If the work piece is damaged by forces less than this amount, then Soft mode will be insufficient for your application.

mhasman · May 30, 2014 at 1:43 AM

Your answer make sense, I agree with you.
So the way is to think in other resolution.

Thank you so much guys!

Torque Mode Settings

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