As the title says, I am trying to create a real time robot torque monitor screen where the end-user will be able to monitor real time robot crucial parameters like disturbance torque, torque average from servo DSPs, OVCs and temperature simulated from servos all these in an effort to give my clients a better way to understand if their programs are smooth and healthy for their robots and take actions if not.
My strategy was at first to pull all the system variables I need and store them into 16bit Group Outputs in a BG LOGIC program and from there directly to the PLC but to my bad luck all of the values read are 90% decimal so I cannot store them in GOs.
Second approach was to store them directly to Registers and have the PLC pull them out using explicit messaging but this solution will not work really well because having a PLC bit always open for the explicit message, doesnt update the data continuously and having a reset output of the explicit message bit every cycle doesnt seem like a good option to me.
Also I must account for the fact that every PLC variable needs at least 100ms to reach the HMI. BG LOGIC scan time and Ethernet IP communication between Robot and PLC are 8ms set.
Is there any other optimal way of storing these decimal values directly to GOs?