Hello everybody,
I'm currently trying to create a Log-File of the Motor-Torques with KAREL. It went quite well but I have a problem with the Torque-Values.
When I log the $MOR_GRP[1].$MAX_TORQUE system variable the value for the first axis is 1092. In the torque monitor (menue->status->axis->monitor) the value for the same motion is 25.814.
How are these values connected respectively how can i convert my loged value [data typ: SHORT] in the torque minitor format [data type: REAL?]?
My second question concerns the unit of the value in the toque monitor. I read online that the unit is amp, is this correct? So if I want the torque data in newton meter I have to calculate it with the motor constant? Are the values in $PARAM_GROUP[1].$TORQUE_CONS the motor constants?
I have tryed to look it up in the "Controller Software Reference" manual, but I was not able to find anything.
Info: Controller R-30iB (V.8.30), Robot R2000iB-170CF
Please excuse my bad english!
Yours sincerely,
d1vvts