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Detecting Collisions

  • inusO
  • June 12, 2018 at 8:39 AM
  • Thread is Resolved
  • inusO
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    • June 12, 2018 at 8:39 AM
    • #1

    Hello everyone,

    I was wondering if it is possible to read somewhere programmatically (e.g. in a system variable) the current disturbance torque on robot axes?
    Or maybe just read somewhere if i am in SRVO-053 Disturbance excess condition?

    Thanks

  • andreic
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    • June 12, 2018 at 9:37 AM
    • #2

    Check: $MISC[1].$HPD_TRQ[n], where n is axis number. Also $MISC_MSTR.$HPD_ENB must be set to TRUE, and power cycle after that.

  • tacheson
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    • June 13, 2018 at 5:43 PM
    • #3

    You can also use these variables to backdoor the CLSKP (Collision Skip, now known as 'Touch Skip') option without getting the PAC (Only $550, but if you're in a jam and need to figure it out asap without waiting for FANUC). But, on newer 8.1 and higher software, it won't work.

    Tyler<br />http://www.acieta.com

  • inusO
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    • June 18, 2018 at 12:13 PM
    • #4

    Thanks for the answers, anyway I've found those system variables that seems to show exactly what I need.
    $MOR_GRP[1].$cur_dis_trq[n]

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