Hello,
I am working in a project with a KR6 R700-2 robot with KRC4 compact controller running KSS 8.3.
I have configured torque monitoring in most of the motions in the different routines that the robot runs but first of all I dont know how to interpret the TM parameters with the torque and impact limits for each motion. This shouldn't be a problem because the controller calculates and updates them automatically but that specifically is causing problems for me.
I am using the robot as a cardboard box erector, so the robot picks the box folded flat and using other static surfaces it opens it and folds the flaps. The issue is that some boxes present more resistance than others since the cardboard may be more rigid or not pre-folded correctly. In essence the issue is that the controller updates the torque for some boxes where it works well but when it encounters more resistance it cuts the routine as the torque limit is exceeded. This creates a real problem since no other boxes can be made now that the limit is so low.
I've tried increasing the offset value in the "Torque monitoring" menu on the SmartPad but as I said previously I don't know how to interpret this value so I don't want to increase it so far that a real collision may not be detected and handled. Running without TM isn't an option since there has already been a collision that partly damaged the gripper.
What I want is to understand the values:
DECL TQM_TQDAT_T TM1={T11 11,T12 11,T13 11,T14 15,T15 22,T16 16,T21 17639,T22 19491,T23 11200,T24 5697,T25 6935,T26 3424,K1 304,K2 305,K3 302,K4 306,K5 309,K6 306,O1 45,O2 31,ID 1,OVM 70,TMF 1.00000}
So that I can set them manually based on a few runs that the controller updates automatically and then disable the auto update of the torque limits so it isn't then lowered by a short batch of less resistant boxes.
Sorry for the long explanation