PTCLR Statement

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

Syntax
PTCLR [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 peak 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
PTCLR clears the peak torque values for the specified joints.

You must execute PTCLR before executing PTRQ.

See Also
ATRQ, PTRQ

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

> ptclr
> go p1
> ptrq 1
    0.227
> ptrq
    0.227    0.118
    0.249    0.083
    0.000    0.000
>

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

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