Hello All,
We have been having a long run of OVC alarms on a couple of our P200e robots that use RJ3(iB) controllers. A technician wrote a small macro to read $MOR_GRP.$MAX_TORQUE and $MOR_GRP.$TORQUE for each axis and pass them to a PLC where we data log (a downloadable excel spreadsheet) them for each of the robots in our plant. We would like to convert this data into the torque value that is seen in the Axis Monitoring screen on the TP or better still, to a current (in amps) so that we can better monitor the current readings on each of the axises. It's clear that the data in the system variables represents the REAL value that is shown on the TP, but it does not seem to be linear. My first guess was some sort of Floating Point conversion, but it has me stumped. On a the same line, we have also observed a baseline shift when we changed out a servo amp board. If anyone has any information or insight to these items, it will truly appreciated.
Thank you,
Walt