ATCLR Statement

Clears and initializes the average torque for one or more joints.

Syntax

ATCLR [j1 [,j2 [, j3 [, j4 [, j5 [, j6 [, j7 [, j8 [, j9]]]]]]]]]

Parameters

j1 - j9

Specify the joint number as an integer value or an expression. If no parameters are supplied, then the average torque values are cleared for all joints.
The additional S axis is 8 and T axis is 9. If non-existent joint number is supplied, an error occurs.

Description
ATCLR clears the average torque values for the specified joints.

You must execute ATCLR before executing ATRQ.

See Also
ATRQ, PTRQ

ATCLR Statement Example
[Example 1] The following is the example to display the torque values of specified joints after clearing the effective torque values of all joints.

> atclr
> go p1
> atrq 1
     0.028
> atrq
     0.028    0.008
     0.029    0.009
     0.000    0.000
>

[Example 2] The following is the example to display the torque values of specified joints after clearing the effective torque values of J1, J4, and J5 for the vertical multi-axis robots.

> atclr 4, 1, 5
> go p1
> ptrq 1
     0.227
> ptrq 4
     0.083