This might be a little overkill but look into high percision torque monitoring:
https://www.robot-forum.com/robotforum/fan…18141/#msg18141
what robot and controller are you using? Is touch sensing an option for you?
Eric,
You are probably looking for this: $MOR_GRP[X].$CUR_DIS_TRQ[X]
This may be what you are looking for. Press status, type then axis. Use your arrow keys and select disturbance. That will monitor your torque. Make sure to be in the correct group. You can also increase/decrease torque values if needed. I tend to do this if we have a motor going out to make it to shift change for replacement.
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Thanks GEFANOC_CRASH28 but as posted
I want to use this info for a sort of force sensing so the robot can use this to learn its environment.
Cunaf, Leopard -> Thanks! Thats exactly what i want to do. This application is a material handling that places a product on an angled backed skid. The tooling has several touch switches on the end to auto sense the depth of the skid and for where the W & P angles are against the back of the skid. Currently it is operator recipe controlled for the Z(height) and R values. I want to use the torque current monitoring to let the robot figure out its own product deposit height and rotation needs.
The controllers are all Rj3 up to R30ib. Its alot easier to make money selling engineering work when you dont have to spend alot on force sensing options that are way more precise than I need.
Thanks again!
-Eric
Used it successfully many times. Especially handy to run robot into part to determine which Uframe to set etc. AKA collision skip.
