What do these system variables mean?
Is there a system variable reference manual?
system variable
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莫问苍穹 -
April 26, 2019 at 5:08 PM -
Thread is marked as Resolved.
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The Software Reference manual based on your software revision.
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I do not believe Misc is included in the system variable manual.
$HPD_TRQ is the current torque detected on the motor.
$DSTB_MAX is either the max torque measured so far, or the max torque allowed before fault
$DSTB_MIN is the min torque allowed/measured
$DSTB_MAXENB is whether the disturbance torque max limits are enabled and being used.
$DSTB_MINENB is whether the disturbance torque min limits are enabled and being used.
$DSTB_EXCESS will either be whether the system is enabled, or whether the robot is in an excess state.The first is what you will use if you want to monitor torque on a motor for skip conditions. The rest are best to be set through the appropriate menu.