SetTorqueLimitsCfg

This command sets the robot behavior when a joint torque exceeds the threshold set by the SetTorqueLimits command. It also sends a torque limit status when the status changes (exceeded or not) for events severity greater than 0. For severity 4, a torque limit error is sent when torque exceeds the limit.

Syntax

SetTorqueLimitsCfg(s,m)

Arguments

• l: integer for the torque limit event severity

  • 0, no action;

  • 1, torque status event (message [3028]);

  • 2, pause motion and torque status event (message [3028]);

  • 4, torque status event (message [3028]) and torque limit error (message [3029]).

• m: integer defining the detection mode

  • 0 triggers a torque limit if the absolute value of any actual motor torque exceeds the respective torque limit set with SetTorqueLimits,

  • 1 is same as 0, but ignores joint acceleration/deceleration periods,

  • 2 triggers if any actual motor torque deviates from the corresponding calculated torque by more than the respective torque limit set with SetTorqueLimits. See the note below concerning accuracy of torque prediction.

With the option m = 0, you must use either very low accelerations (SetJointAcc) or very high torque limits (SetTorqueLimits).

The option m = 1 is mainly useful for joint-space movements, as revolute joints in Cartesian-space movements are generally always accelerating or decelerating.

Finally, with the option m = 2, the torque limits set by SetTorqueLimits are interpreted as maximum deviations rather than absolute limits. This option allows for much finer control over torque limits and enables much quicker detection of collisions between the robot and its environment. To improve torque estimation accuracy, consider using the SetPayload command.

Note

The robot’s torque prediction accuracy may vary depending on the motion profile and load conditions. Although the prediction error is typically below 10%, it can occasionally be higher (sometimes 20%). You may need to experiment with your own trajectories and payload configuration to determine appropriate values for SetTorqueLimits.

Default values

The default settings are applied whenever the robot is activated or reactivated.

By default, the event severity is set to 0, and the detection mode to 2.

Usage restrictions

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

• [1005][The robot is not activated.]

• [1006][The robot is not homed.]

• [1011][The robot is already in error.]

Cyclic protocols

In cyclic protocols, the SetTorqueLimitsCfg command is represented by MotionCommandID 28. See Section 4.2 for more details.