To get the force applied

I have any example from the manual,

if bTeach==true

// teaching expected joint force

//zero array of maximum joint force values

for i = 0 to size(nCurrent)-1

nMax[i]=0

endFor

do

//get current joint force array

$getJntForce(nCurrent)

//set maximum value

for i = 0 to size(nCurrent)-1

nMax[i]=max(nCurrent[i],nMax[i])

endFor

//repeat every 4 milliseconds, update rate of servo data

delay(0.004)

// until movement is finished

until isEmpty()==true

else

// to test current motion again maximums

bError=false

do

// get current force

$getJntForce(nCurrent)

//does it exceed the maximum value plus 10%

for i = 0 to size(nCurrent)-1

if nCurrent[i]>nMax[i]*1.1

//stop the arm and signal the error

resetMotion()

popUpMsg("Joint force higher then expected")

bError=true

endIf

endFor

delay(0.004)

until isEmpty()==true

endIf

This teaches the maximum allow force and then is monitoring it.

Put it on a task and test it.

Hello,

Not that I am aware.

This is probably something you need to refer to Staubli directly.

Don't even know if their robots are capable of being controlled by force.

To use $getJointForce command, you need to instal addOn "Motion" on your controler. Call Stäubli service to know the method for that...