ATRQ Function

Returns the average torque for the specified joint.

Syntax
ATRQ (jointNumber)

Parameters

jointNumber

Specify the joint number as an integer value or an expression. Additional S axis is 8, and T axis is 9.

Return Values
Real value from 0 to 1.

Description
The ATRQ function returns the average RMS (root-mean-square) torque of the specified joint. The loading state of the motor can be obtained by this instruction. The result is a real value from 0 to 1 with 1 being maximum average torque.

You must execute ATCLR before this function is executed.

This instruction is time restricted. You must execute ATRQ within 60 seconds after ATCLR is executed. When this time is exceeded, error 4030 occurs.

See Also
ATRQ Statement, PTCLR, PTRQ

ATRQ Function Example
This example uses the ATRQ function in a program:

Function CheckAvgTorque
  Integer i

  Go P1
  ATCLR
  Go P2
  Print "Average torques:"
  For i = 1 To 4
    Print "Joint ", i, " = ", ATRQ(i)
  Next i
Fend