HealthRBTRQ Function

Returns the torque value which affects the life of the parts on the specified joint.

Syntax
HealthRBTRQ ([robotNumber,] jointNumber)

Parameters

robotNumber

Optional. Integer expression (1-16) representing the robot number. If omitted, the current robot number will be used.

jointNumber

Specify the joint as an integer value (1-6). This command is unavailable for the additional axes.

Return Values
Real value from 0 to 1.

Description
Returns the torque value which affects the life of the parts on the specified joint in robot operation from HealthRBStart to HealthRBStop. The result is a real number from 0 to 1. The maximum torque value is "1".

Notes

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• This command does not function in Auto mode.
• This command does not function in dry run mode (including the virtual controller).

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See Also
HealthRBStart, HealthRBStop, ATRQ

HealthRBTRQ Function Example

Function RobotPartAnalysis
  Real healthTRQ

  Robot 1

  HealthRBStart 1
  Motor On
  Go P0
  Go P1
  Motor Off
  HealthRBStop 1

  healthTRQ = HealthRBTRQ(1,1)
  Print "Torque =", Str$(healthTRQ)
Fend