Hello,
my setup: KSS 8.6.5
FTCtrl 4.1.3
Controller KRC4
I am using a force-torque sensor from ATI, with that I can measure also the forces
Does anybody know how I can access in RSI to the measured forces? I want to do an interrupt with the force in y-direction.
I want to do something like that: If the force in y-direction is bigger that 20 newton do stop
Code
$CYCFLAG[1]=(Measured.ForceY>20)
INTERRUPT DECL 1 WHEN $CYCFLAG[1] DO STOP ()
DEF STOP ()
INTERRUPT OFF 11
BRAKE F
RESUME
END
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But my question is how I can get access to the measured force in y-direction. For that example I have used "Measured.ForceY", but I have to change that. Is there any system variable for using the measured force?