Hello my fellow Nerds, I have a question or two concerning data located in Variable file "Type F". I just got involved with a program at my new job that is using a denso to do a pick and place. Rubber hose is picked up off of a conveyer using cood. from Cognex vision system then installed into steel tube and ferrell. Robot is calling "Getjntdata (5,5)" I understand that it is reading torque,@ joint 5 what i dont understand is by what means is the tourque being derived. The easy answer would be current but the kicker is that some of the "torque values are negative numbers. My second choice would be angular velocity, problem there is that i dont know how to calculate that to verify if the numbers jive. Program Section (wincaps III ) REM******************************************* REM CHECK TORQUES INSERTING HOSE MOVE L, @0 P239, S=50 'INSERT HOSE CLOSE TO BOTTOM OUT DELAY 300 F20=GETJNTDATA(5,5) IF ((F20 < F22) OR (F20 > F21)) Then CALL RejTq2 Goto *RetryHoseInsertion ENDIF CALL GRIPPER_OPEN ' Call Open Gripper Sub-Routine DELAY 100 MOVE P, @0 P240,S=80 ' Move To Machine Crimp Position DELAY 100 CALL GRIPPER_CLOSE ' Call Close Gripper Sub-Routine DELAY 500 MOVE L, @0 P241,S=50 ' Move To Machine Crimp Position DELAY 50 F23=GETJNTDATA(5,5) IF ((F23 < F25) OR (F23 > F24)) Then CALL RejTq2 Goto *RetryHoseInsertion ENDIF REM ******************************************* Actual values from Var Type F -3.903335 Pro2 T Actual 1st 100 Pro2 H L Limit 1st -25 Pro2 T L Limit 1st -42.24786 Pro2 T Actual 2nd -15 Pro2 T H Limit 2nd -300 Pro2 T L Limit 2nd My second question involves comming up with true range limits for this operation. I have a hose, tube w/Ferrell each having a min & max OD/ID and need to determine what ranges i can set taking into consideration all of the possible variations in dia. Only data i have is Parts at Nominal measured in mm , insertion pressure at nominal measured in N. running samples with all parts at all their min and max levels is not an option. This will have to be done mathmatically. Ferrell ID (max) (min) Tube OD (max) (min) Hose OD (max) (min) ID (max) (min) Pressure (max) ? 16.56n (min) ?
