Hello all, I am on a KRC4 - 8.6, KR 6 - 700
I have a quick question regarding : Torque limitation VS Collision detection VS ... ? :
First, here is my system:
- When I load a part in a station, I wan't to "push" it to make sure it is sitting on its bed (otherwise, going to a fix position will result in a +/- 0.5mm accuracy).
- Sadly, the force that I can apply on the part is very low* (just a bit too much force will make the part slip inside the robot's grippers, too less will make my robot too soft for motion).
- For now, I tried to achieve this by using "SET_TORQUE_LIMITS", I did not reach yet a very satisfying result ... but I might still be able to improve my logic/calculations etc ...
- And just now, I tested another "approach" in JOG mode with the function "Collision detection" (so at least the logic here is safe), and that seems to be more efficient than what I did so far (and the fact that the robot stops as soon as pressure is reached is a +).
So, now, my question is :
I know that I can use the Collision detection in Program (cycle) but, is it possible to use it like a Trigger (When collision is detected, then stop in position, open gripper and retract for example)? Or is it just meant to stop the robot and wait for operator to restart?
Else, is the SET_TORQUE_LIMITS the right way to go? Or is there another way that you would use for my case (except mechanical solution)? If I really want to stop when the torque is reached, do I need to combine SET_TORQUE_LIMITS + some code in SPS ?
* For info, in "collision detection" my peak values in the jogging dataset are in the range of 40 - 60Nm (so ~10 times less than max torque)...