How to capture/record peak TCP force at a given waypoint

Technical Questions
1

Hello,

I am trying to narrow down how to capture the highest recorded/peak TCP torque at a given waypoint.

UR3 Program
UR3 Thread

Of course, I can view what the ZTorque is at any given moment via the variables tab (slow as it is); however, I would like to know at the given waypoint, what the peak torque is, so I can fine tune some things. Is there any script I can write that captures the highest recorded Torque at the TCP for each given program cycle/run? Working with a FT sensor, of course.

Thanks in advance

2

Don’t forget to use the zero_ftsensor() command before reading the value, as you can get erroneous results otherwise.

As for logging the highest value, just use a temporary variable to hold the highest reading, and only write to it if the current reading is higher than that value. For example using some pseudocode:

PROGRAM:
var highestZTorque = 0
runThread = True
DO SOME WAYPOINTS OR SOMETHING
runThread = False
popup("The highest torque was", highestZTorque) //I know this isn't proper popup formatting

THREAD:
while(True):
  while(!runThread):
    sync()
  end
  TCPforce = get_tcp_force()
  ZTorque = TCPforce[2]
  if(ZTorque > highestZTorque):
    highestZTorque = ZTorque
  end
end

Block your thread from running with the runThread variable, and only set it true when you start caring about capturing the data. Make sure to zero the sensor and your temporary variable before doing so each time.

Side note, there is just a “force()” command which gives a single value of the force reading at the flange (I think) which might be all you care about if you’re just reading the Z value of your TCP force.

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