ATRQ Statement

Displays the average torque for the specified joint.

Syntax
ATRQ [jointNumber]

Parameters

Joint number

Optional. Integer expression representing the joint number. The additional S axis is 8 and T axis is 9.

Return Values
Displays current average torque values for all joints.

Description
ATRQ displays 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 command 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
ATCLR, ATRQ Function, PTRQ

ATRQ Statement Example

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