Roles No Roles
Full Name Louis Bergeron
Company (optional) Robotiq
You can use the FT sensor on a KRC2. The sensor uses Modbus RTU protocol over RS-485. The KRC2 have a standard DeviceNet Master card. So you can buy a gateway from another vendor like Anybus to convert the Modbus RTU protocol to DeviceNet. You will then have access to the registers in the FT sensor to read forces and torques. Those registers are described in the manual here:
The source code is not open source. This software is free with the sensor and all update are also free. Unfortunately, the source code is not available.
I think you can't use MoveJ in this case. MoveJ is a motion in Joint space, not in Cartesian space. It means, there is no x,y,z coordinate. The coordinates are in degrees for each joint for a MoveJ. You will also see that acceleration and speed are represented in degrees/second and degrees/sec2. It means MoveJ is neither in the Base coordinate. Asking the robot to put joint number 2 at 35 degrees, for example, it means it's always at the same place in space. That's why it look like in base coordinate because it's a fixed position in space. It's a fixed angle for each joint. The base is also in Cartesian space with X,Y and Z. To use Cartesian coordinates like X,Y,Z, I think you must use MoveL or MoveP.
@abeachy_HG24 you can see some example with this template. There are UR program, explanations and other stuff.
Here's the program template of the week! It allows you to log any variables in your UR program to an external PC. For an application like quality control, you will be able to log your results like maximum forces, the robot's positions, the number of cycles and much more in a standard CSV file located on your PC.
Get the full program template here!
Here's a short preview on logging values continuously with our Force Torque Sensor: