In the program, you can read the current F/T values by using this code " current_force = get_tcp_force".
I have a couple of UR10e's that do machine tending on CNC machining centres. I change setups every few days so spend a lot of time setting them up. I often have to bump the held part against a wall or stop and it's not always visible where I am in relation to that wall or stop. Seeing the torque value (or amps for joint load) will tell me when I touch a wall or stop.
So you wanna move the robot towards the CNC chuck if the part hits the chuck, the robot should stop at the position, release the part and come out of CNC. Is this what you need? If yes, tell me your robot model number
As far as I know, by default UR doesn't have the option. But you can monitor the values by developing UR CAP and make it as a floating screen or use python to write a script to read the values and then print it out on a console. Fix the console to be on top.
But it's a lot of work.
Thanks
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