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!