VASS-KUKA robot torque monitoring TECH2_ Koll_Ueb variable control usage introduction

Regarding KUKA torque monitoring: the variable $TORQMON[6] can be used to monitor the range and alarm.

$TORQMON[6] Torque monitoring channel in program mode, torque monitoring in program mode.

Factor for torque monitoring in program mode (force sensing torque)

If there is a collision with an object, the robot controller increases the axis torque to overcome the resistance. This may damage the robot, the tool or other objects.

The variable $TORQMON contains the current tolerance range for the axis torque in program mode. This tolerance range is defined using the variable $TORQMON_DEF in the file ...STEU Mada $ custom.dat.

Default value: 200

$TORQMON[Axis number]=Factor

Initialize the axis torque monitoring value in the USER_INIT () program

FOR i=1 to 6 Torque monitoring of adjustable axes by changing KOLL_RED

$TORQMON[i]=(200-KOLL_RED) KOLL_RED=0 $TORQMON torque control=200

ENDFOR

$TORQMON_ME=0.0120000001 Response time of motion torque monitoring function

Usage: Measure the torque value of the axis through the user program to set the torque monitoring range of the monitoring axis.

Robot gripper USER: CH2_ Koll_Ueb grab/place overload monitoring program

Function: --Torque alarm--

example:

TECH2_ Koll_Ueb Mode = Learning Stop Range = 1 Offset = 5 ON

Review editor: Liu Qing