G'evening All - does anyone have experience with using the torque limiting features/commands with Epson robots? I've got a T6 that I'm going to be using to load a machine tool, and need to make sure the part is seated properly. Inconsistent part length (less than 0.010") means the 'load' position needs to be variable, or my tool needs to be compliant in the one direction. Rather than make the EOAT more complex than it needs to be, I'd like to accomplish the same end result in the program.
I'm looking at the 'LimitTorqueLP' (Limit Torque in Low Power Mode) statement - am I simply going to get collision detects all the time if I use this command when loading the collet?
If that's the result, can I turn off collision detect, set the speeds and torques way low, drive to the 'stall' point when loading, grip the part with the collet, release the part from the gripper, turn off torque limiting and turn collision detect back on, then resume the rest of the cycle?
I guess my question is 'what does the Limit Torque function actually do?
Thanks all!