Torque measurement

    Hi All.

    Where do I find the actual torque values of the axes on an IRC5 controller?

    I would like to change the old, existing Binzel CAT2 XL crashbox on our IRB2400L (outer cable welding robot) to a more functional one, because the switching torque is too high.

    I does not work as a crahbox because the robot axes torque limit stops the robot earlier...

    I would like to change it to a lower torque crashbox, but the nex step is the half of the XL.

    The XL has 42 Nm, the L version has 21 Nm.

    I do not know whether it will be OK, or it will be too low...

    It is an outer cable robot, I afraid of the deflection of the cable can exceed the torque limit...

    I would like to check whether how much is the actual torque values during operation...

    I have checked tha manuals but the torque "keyword" did not work well :smiling_face:

    Thanks for suggestions.

    Best regards,

    Andras

  • Go to Best Answer
    Quote from TSBV

    hi, that should be possible with tunemaster/log. there is a possibility to read torques of a specific ax.

    Is it a standalone PC software? Or it comes with Robot studio?

    I'll have Robot studio license for 3 years, but still it is not activated, but it is already bought.

    I found a lot of problems with RW5.15 & 16 in getting torque to be measured consistently, even following the examples in the RW manuals. After a fair amount of time experimenting, eventually consistent success was found. It was simply adding a delay between the TestSignDefine instruction and TestSignRead function.

    Here's a snippet of (a fairly involved torque measuring) bit of RAPID:

    PROC rAxisMeas(num nAxisNum)

    TestSignReset;

    TestSignDefine 1,9,A_mecunit,nAxisNum,0.001;

    WaitTime nSigDelay; ! Experiment with variable to get reliable readings.

    ...

    (routing via Test Case of nAxisNum for GO setting - I MAY try AliasIO, for now this works)

    ...

    nTrqVal{nAxisNum}:=TestSignRead(1);

    nAbsTrgVal:=Abs(nTrqVal{nAxisNum});

    SetGO go_TrqAx...,nAbsTrgVal;

    ...

    ENDPROC

    This code is executed as part of a few background tasks.

    Were you able to measure robot joint torque or external axes torques only? For RW5.16, ABB support mentioned to me that only the torque of external axes could be measured, nothing from the robot itself

    Good ol' ABB, making simple requests torture. Also ABB can make it difficult to convince customers to try their products because of their rigidity.

    I suspect ABB will be pleased to have you try their Remote/Connected $ervices which will make it 'easy' for the end-user to stay on top of their robot population's health.

    Here's the text from the manual (emphasis mine):

    Only test signals for external axes can be reached. Test signals are also available on request for the robot axes and for not predefined test signals for external axes.

    Yes, in this facility only external axes are measured.

    Is it possible to download Test Signal Viewer from somewhere?

    It is not on the DVD.

    On the other hand I did not find 'Tools' directory :grinning_squinting_face:

    I will check the original disc.

    It is a copy on my PC, but I afraid it is the same...

    Quote from wld82ngnr_hu

    Is it possible to download Test Signal Viewer from somewhere?

    It is not on the DVD.

    On the other hand I did not find 'Tools' directory :grinning_squinting_face:

    I will check the original disc.

    It is a copy on my PC, but I afraid it is the same...

    ABB support pointed me here: https://new.abb.com/products/robotics/robotstudio/downloads

    Download “Robotware Tools and Utilities 6.15.02".

    I have been unable to monitor robot joint torques with this however, only the external axis torques just like "TestSignDefine".

    Is it a standalone program?

    Is it necessary to have Robot Studio on the same PC?

    We bought 3 years license of RS but it is still not activated (I waiting for the new robot, and some "free" time in the work, to get deepens in it).

    I would like to install RS on my desktop PC.

    However if I understand well TestSignalViewer should be installed on a laptop, because it must be connected to the robot controller...

Advertising from our partners