Get Current Payload Remotely

Technical Questions
1

Greetings URCommunity,

In my installation I have three different TCP and Payloads (three different tools). I would like to know if it is possible to remotely know the current payload. By this I do not mean the Active Payload since the latter and the former may not necessarily be the same.

E.g Let’s say my installation, by default, has Payload_1 as Active but I have Tool_2 in the robot. If I use the function get_target_payload() I will receive the payload for Tool_1 even though Tool_2 is the one attached to the robot. In other words, If I swtiched tools without changing the active payload manually, I would like to know if it is possible to always get the payload of whatever tool is attached to the robot regardless of whether the active payload corresponds to it.

Any help is much appreciated,
Best Regards
Pedro Monforte

2

hmm… i dont think the real time controller actively calculates the current payload. In fact, the calculation is not trivial if the TCP orientation is anything other than aligned with gravity.

Unless you can build into your program some time for the robot to orient the TCP aligned with gravity and capture get_tcp_force(), you will have to do some math.

Option 1:
there are script functions get_tcp_force() and force().
as far as accessing this remotely, you will have to either send the above scripts over the primary (or secondary) interface

Option 2:
RTDE interface does have both “tcp_force_scalar” (double float; the normal of Fx, Fy, Fz) and “actual_TCP_force” (6xVector; (Fx,Fy,Fz,Mx,My,Mz))

see here for mote access: Overview of client interfaces - 21744