Sending $CUR_TORQUE[n] data to a Register

    I would like to transfer the electrical current (torque) value from an axis, such as $CUR_TORQUE[3] in to an R[n] register.

    I've done a lot of basic programming in HandlingTool for many of applications.

    But I cannot find out how to monitor an axis current in real time within a program.


    Any help would be greatly appreciated! Thank you!

    fwclaude


    Welcome to the robot forum



    23: !Checks arm current ;

    24: IF ($SV_INFO[1].$Q_CURRENT[3]>.4 AND $SV_INFO[1].$Q_CURRENT[3]<(-.4)) THEN ;

    25: R[86:Overcurrent detd]=1 ;

    26: ELSE ;

    27: R[86:Overcurrent detd]=0 ;

    28: ENDIF ;


    or


    R[8:Current axis 3]=1 ;$SV_INFO[1].$Q_CURRENT[3]

    Retired but still helping

    Quote from fwclaude

    I would like to transfer the electrical current (torque) value from an axis, such as $CUR_TORQUE[3] in to an R[n] register.

    I've done a lot of basic programming in HandlingTool for many of applications.

    But I cannot find out how to monitor an axis current in real time within a program.


    Any help would be greatly appreciated! Thank you!

    You mean the torque or disturbance?

    My assumption is torque as I want to monitor the increase in current of J3 as the robot makes a slow approach and the EOAT makes contact with a pallet. It's just an idea at this point. Just trying to find a way get around using a series of photosensors to determine the actual pallet Z location in a pallet hopper. Bottom line, I don't know enough of disturbance to even ask a halfway intelligent question.

    Can you find the variable ? Can you see the number ?

    Jog the robot (gently) again a table/wall and start pushing (crashing) (gently) the robot against it and look at the numbers changing on $SV_INFO[1].$Q_CURRENT[whatever]


    Once again GENTLY . That will be fine, very fine motion


    Once you see those numbers you can create a range of disturbance before it actually crashes. The problem is that in real life the robot has to move very slow

    Retired but still helping

    Quote from fwclaude

    My assumption is torque as I want to monitor the increase in current of J3 as the robot makes a slow approach and the EOAT makes contact with a pallet. It's just an idea at this point. Just trying to find a way get around using a series of photosensors to determine the actual pallet Z location in a pallet hopper. Bottom line, I don't know enough of disturbance to even ask a halfway intelligent question.

    In such a case I always use $MISC[1].$HPD_TRQ[x] whare "x" is the axis number.

    I use it together with SKIP CONDITION and it works, but as Fabian Munoz said, you have to tune is slowly and gently.

    Thank you for your input! You are thinking along the lines as I am. I've monitored the axes currents in another application, but never actually use them. At this point I put it in the category of a hair-brain idea, but would like to pursue it. It would make this new application's hardware a lot less complicated.

    Quote from neighbour1

    In such a case I always use $MISC[1].$HPD_TRQ[x] whare "x" is the axis number.

    I use it together with SKIP CONDITION and it works, but as Fabian Munoz said, you have to tune is slowly and gently.

    Thank you for your input! I greatly appreciate it. Now I just need to get some "play time" on the robot to figure out what I actually want to do.

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