Curtrq; 18 Curtrq - Omron SCARA YRCX Series Programming Manual

18

CURTRQ

8
Acquires the current torque of the specified axis
A
B
C
D
E
F
G
H
I
J
K
L
M
8-36 Chapter 8 Robot Language Lists
Format
CURTRQ [robot number]
Values robot number .........................1 to 4 (If not input, robot 1 is specified.)
expression ..............................1 to 6
Explanation Acquires the current torque value (-100 to 100) of the axis specified by the
<expression>.
The value is expressed as a percentage of the maximum torque command value. Plus/
minus signs indicate the direction.
SAMPLE
A = CURTRQ(3) ··················· The current torque value of the axis 3
(expression)
of robot 1 is assigned to variable A.