Hello
I need please some informations about torque in external mode.
Does this function SET_TQ_VALUES (15,15,15,15,15,15) needs to be called in all subprograms? Because if I display the $TORQMON[1] is 0.
I need to stop the robot if the torque change. I have slow liniar motion and I don't want to bend some metalic pins on the part.
I need low torques variation, does 15 represents 15% above nominal torque? Can I start from 1 and increase this values?
And also I need some global home points and I can't use collision detection.
Thank you
Torque in external mode
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Casius -
June 15, 2015 at 8:25 AM -
Thread is marked as Resolved.
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if you open BAS.SRC and read the code for SET_TQ_VALUES() you will notice that it just writes to $TORQMON[] and $TORQMON_DEF[]. Both are explained in system variable manual.