Hello guys,
I wanted to know how do I enable torque monitoring on KUKA KRC4 (KR 16 L8 arc HW). I went to display, variable, single, writed $TORQMON, updated in real time, moved all axis but the value does not change.
I also wanted to know if there is a varible or a way to mesure the temperature of the servomotors.
KUKA KRC4 TORQUE MONITORING
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Gabigol -
March 29, 2021 at 9:14 PM -
Thread is Unresolved
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Try finding $TORQMON_DEF in the file …STEU\Mada\$custom.dat. This is where it is defined.
Regarding monitoring motor temp, you could try the variable $MOT_TEMP, be aware as the units are in Kelvin.
You can find all of this in the system variable documentation.
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try searching for those in system variable manual. All that is explained and you also have the examples.
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$TORQUE_AXIS_ACT
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and what is the variable for monitoring the torque in the KRC2?
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open manual... use CTRL+F to open search window... enter search term such as torque...
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Searching the krc2 manual, I didn't understand which one I could use to check the current torque. In KRC4 it really is $ TORQUE_AXIS_ACT.
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i would check $CURR_ACT. it gives you direct reading of motor current. axis torque is proportional to motor current.
btw.
Quoteand what is the variable for monitoring the torque in the KRC2?
this does not apply...
KRC2 and KRC4 are hardware. variable and monitoring of variables is something done in software. and when topic related to software, one should specify KSS version. and in case of KRC2, there are many possible KSS versions (4.x, 5.x, 7.x). mentioning model of robot am or controller type is not exactly helpful for this. same goes for KRC4 - it support range of KSS versions and they can have different variables.
btw, when one knows variable in one KSS, but not in another, good place to start search are so called migration documents.
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Yes, you're right. Thanks
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