Hello. We are using several iiwa robots in our plant for assembly. And we monitor its data during running. For now we can only get the robot cartesian position, joint force and so on, by using LBR sensor model, getExternalForceTorque or getExternalTorque etc.
The problem is we want to read its motor output current for maintenance diagnosis (not only the torque), but we are unable to find motor current either in the smartpad interface or any KUKA defined methods/class in sunrise. If anyone knows how to get the motor current, we are very grateful for your sharing.