Hello , dose anyone know how i can output the motor current value of my additional axis to a group output.
Fanuc Robot additional axis
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Wdrake21 -
March 5, 2021 at 2:48 PM -
Thread is Unresolved
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Most of the motor torque and current parameters can be found in the system variable group:
$MOR_GRP[X].
Where X is the motion grp you'd like to look at.
I don't remember off-hand which system variable gives you the current value for the motor (Maybe $MOR_GRP[1].$Q_CURRENT[1] for axis 1) or what units/scale they are using but you might have some luck poking around.
To set a group output equal to a system variable, Press [F1] "[INST]" -> 2 "I/O" -> 5 "GO[ ]=..."
you should now see a line of tp that looks like this:
Use the arrow keys to highlight the second set of ellipses and hit enter to choose an I/O Statement. Pick 4 "(...)" for mixed logic. Then select 1 "Parameter name". your line of code should now look like this:
Now, after the dollar sign, fill in whatever parameter name you'd like to write to the group output. Lets use $MOR_GRP[2].$Q_CURRENT[1] as an example, and GO 1 for the output. Your finished line should look like this:
Hopefully, that helps, this was all done assuming you are using an R30iB controller and recent system software. Some older stuff might not have mixed logic available, in which case you would have to set a register equal to the parameter name, and then set the group output equal to the register. Good Luck.
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hey thank you for the assistance, I will try it when I get back to work