EGM for current or torque sensing

ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)

BSD 3-Clause "New" or "Revised" License

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Closed AbdElRahmanFarhan closed 3 years ago

AbdElRahmanFarhan commented 3 years ago

Hello, I just have a question. Can EGM or Even RWS be used to get the current or torque of the motors?

jontje commented 3 years ago

As far as I know, then EGM cannot currently do that.

See https://github.com/ros-industrial/abb_libegm/issues/86#issuecomment-595839429 for one way of how RWS could be used (i.e. the "option 2" section). Also, please note that RWS is not designed for high performance.

gavanderhoorn commented 3 years ago

As this is not an issue with the library in this repository, and @jontje has answered the question, I'm closing it.

Feel free to keep commenting on the issue of course.