KRC4 8.3.29
ForceTorqueControl 3.1.2
Sensor: ATI omega 85
Hello
I'm trying make polishing application using agilus kr 10 with ft sensor. I have gotten quite far by just following kuka ftc manual, but I have some questions that I have not been able to find solution.
I Have siemens PLC connected to the robot via profinet. I'm logging some data from robot by mapping it to profinet IO in sps. Position and speed logging is working just fine.
Now I would like to add forces from the ft sensor to that log. FT signals are available in FTCtrl application signal monitoring window with graph (Fx, Fy, Fz, Tx, Ty, Tz)
I have not been able to find variables in the robot containing the information from the sensor.
Does such variables exist?
Other problem that I have encounter so far is that when I run FTCtrl_LDD program to determine sensor load data, I get negative force value? (-4 N) To my understanding the value shoud be something like 30N because I'm using 3kg tool.
Any ideas how to fix that?
I welcome all the talk and tips of using FT sensors with robot.
Thank you for the help.