Hello,
I'm trying to read the torque on a axis. I know that in the lastest robotware it can be done (see here: https://www.robot-forum.com/robotforum/abb…74615/#msg74615)
But i have to this:
CONST num Torque_channel :=2;
VAR num Torque_value;
TestSignDefine Torque_channel, torque_ref, ROB_1 , 2, 1.0;
<< code >>
<< Start picking up the product>>
MoveL Offs(pPick,0,-10,100), vHandling, z20, toolPick\WObj:=wobjPick;
MoveL Offs(pPick,0,-10,10),vSearch,fine,toolPick\WObj:=wobjPick;
<< do the torque measuring >>
If (TestSignRead(Torque_channel) > 6 ) Then <<< Goes wrong!
TpWrite(“Torque value:”+ValToStr(Torque_channel)
Else
TpWrite(“Noting”);
END if
<< end code >>
I get the error that TestSigDefine has an undefined channel. What goes wrong?