Experience with torque cut-off combinend with SRCH/NSRCH

    Hi folks,
    Some time ago I programmed a torque switch-off in conjunction with a search run on an ABB robot. The idea was that as soon as the robot experiences increased resistance, i.e. the tool presses against an object (rubber bale), a signal is pulsed and the search is thus stopped. I realized this with a trap routine running in the background which stops the search run as soon as a predefined value of current for the torque of the axis (in this case it was axis 4) was exceeded. Does anyone have an idea how I can implement this with Yaskawa? So far I know that I can read out the torque via the system variable $PX050 in %, but I have no idea how to implement a parallel processing of jobs in MotoSim (if this is the right approach for Yaskawa at all), as I am relatively new to the “Motoman world”. The current torque of a specific axis must be read out during the search run with the highest possible resolution in order to avoid damage to the robot or tool. Does anyone have any ideas, tips or perhaps instructions on how I can achieve this? Again, I am very inexperienced when it comes to programming MotoSim, so if anyone has any ideas, please explain the procedure step by step. I would be very grateful for that.


    See U and best regards ~U

    Quote from ljuba

    You are on the right track.

    But there is no way to do it in motosim, obviously you do not have the torque feedback from the motors.

    About checking it while searching, paralel job, or system job.

    yeah for sure i know it can not work in Motosim, but in my opinion it is much easier to programm it via the JobPad.

    Edited once, last by Utschka (October 14, 2024 at 7:46 AM).

    Oh actually I hadn't considered this point at all. As already mentioned, I am new to this programming environment, and therefore have very little idea what else it could be. Because the robot is able to record the values, for example to calculate the potential service life, so in my opinion it must also be possible to read out the current value, especially if it is possible on the YRC1000, it should probably also be possible on the DX200 controller. Anyone ideas?


    Thanks

    Quote from ljuba

    I've seen $P050 just on yrc1000. DX200 and DX100 even can show the torque, but you are not able to use that information for what ever. It was not possible to store in some variable and use further on in program

    $Px050 came out on the DX200. There is a post from 2019 on it.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    Hey Guys,

    i just discovered Link-Servo Float ... Do you think it is possible to realize that application, mentioned bevore with this optional Function? ( I choose a maximum kgf of Force to press the bale after that i acitvate the tool?

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