Dobot CR5 read build in sensors data

#1

hello Dobot CR Series support,

I am a new Dobot customer. I have purchased the CR5 cobot and starting now to learn how to operate it
Until now I have used UR5 cobot of universal robots

I have a use case where I need to sense the forces on the robot in order to do some movement. It doesn’t meter if I sense the force on axis close to the TCP or on the root axis (shoulder) because I can adjust the program code to each of them.
In UR program I just do “current_force = force()” to read the force into a current_force variable and then I do something like:
if current_force > X
do something

I went over all the Dobot relevant documents -
Dobot Lua Syntax Guide.pdf
Blockly User Manual (CR Robot).pdf
DobotStudio Pro User Guide.pdf

Also I searched this forum and the dobot website and I can’t find any equivalent command to do in the Blockly program or Lua script in order to achieve this functionality I must have

Can you please help with this?

#2

There is no torque sensor in our Dobot joint. If you need force control instructions, please buy the force sensor in our ecological accessories

#3

thanks for the prompt reply
Can you please point me to the relevant sensor in your accessories page and also to some documentations on how to set it up for my needs?
Thanks in advance