Hallo All,
Does anyone know of a way to be able to use collision monitoring in such a way as to be able to write new values to $TORQMON_COM[] while the robot is in $EXT mode?
What I am trying to do is use it to monitor torque/current and instead of doing a $STOPMESS give an interrupt/brake/resume so that the program can do something more productive than simply faulting the robot.
The robot is packing delicate plastic tubes into a box, and I want to be able to sense if there is an obstruction in the box, with a slow LIN move(some of the previously packed tubes might have fallen over).
If the robot sees the current increase then it can go to a home position and notify the operator to check the box. So I want to be able to write very low values into $TORQMON_COM[] just before the placing move and when the move is complete write bigger values in so that the robot does not fault out on any of the other moves.
I have spent 3 days writing my own routine in SPS.SUB (and not using collision monitoring) but the program is not accurate enough, I am not able to calibrate the setpoints/current limits properly and get too many a false readings. I also have a problem coping with different speeds.
Any suggestions glady appreciated
Autor