How to control external servo motor?

    Hi,

    I am new to robots, so I' d be super happy for anyone to direct me to the relevant documentation to solve the following problem.
    I have KRC2 KSS 4.1.7 KR 150-2 K 2000 robot and I need to devise a very strange :smiling_face: custom tool that I need to control by robot programming.

    The tool would have servo motor and I need it to be switched on at the start of toolpath and off at the end.
    The interesting part is that I must be able to digitally set constant rotation speed with which the servo motor needs to turn e.g (120 RPM) on start.
    The intended tool is complex to explain, the nearest approximation - imagine a drill made out of servo motor and we need to control the drilling rotation speed.

    I have not yet purchased the servo motor or any other hardware that may be needed for such tool, thus advice on that would be very helpful, too.

    Please help :help:

    Sounds like a simple milling head.

    TRIGGER commands can be used to set signals at precise locations relative to specific motion path points.

    As for setting the tool RPM... well, that depends entirely on the interface between the robot and the tool you build. You didn't specify what I/O option(s) your robot has, if any, which will effect the low-level details. But at the programmatic level, it won't matter much. You can declare a multi-bit Signal and treat it as an Integer variable, and simply assign values to it. You'll need to establish a conversion table for which integer values equate to what real-world RPM, and that will depend entirely on the tool hardware.

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