Torque Input Functions

Torque input functions evaluate whether the torque of the axis is at certain values.

For these input functions, the axis command mode can be Position, Velocity, or Torque. The feedback torque (Actual Torque) is used to evaluate the condition.

Input Function	Description
EqualTrq	Evaluates to TRUE when the torque of the specified axis equals the specified value, and FALSE otherwise. The condition evaluates to TRUE when one of the following is true. The axis torque is between [trigger torque + tolerance] and [trigger torque - tolerance]. The axis torque can be equal to [trigger torque + tolerance] or [trigger torque - tolerance]. The axis torque from the last cycle is between [trigger torque + tolerance] and [trigger torque - tolerance]. The axis torque from the last cycle can be equal to [trigger torque + tolerance] or [trigger torque - tolerance]. The axis torque is greater than [trigger torque + tolerance] and the axis torque from the last cycle is less than [trigger torque - tolerance]. This indicates that the axis torque was equal to the trigger torque between this cycle and the last cycle. The axis torque is less than [trigger torque - tolerance] and the axis torque from the last cycle is greater than [trigger torque + tolerance]. This indicates that the axis torque was equal to the trigger torque between this cycle and the last cycle. The tolerance is 0.5 user units by default, but can be changed by setting the enableTolerance option to 1 and setting the tolerance parameter to the desired value. The following figure shows the change in the axis torque over several cycles. In the cycles for which the condition evaluates to TRUE, the torque is shown as a red dot, and in the cycles for which the condition evaluates to FALSE, the torque is shown as a black dot. The trigger torque is specified as a signed value. A negative trigger torque will trigger for negative axis torques (axes applying torque in the negative direction). The enableUnsigned option can be set to 1 to specify the trigger torque as an unsigned value that will trigger for axes applying torque in either direction. Parameters are specified with the EqualTrq struct.
GreaterTrq	Evaluates to TRUE when the torque of the specified axis is greater than the specified value, and FALSE otherwise. The condition evaluates to TRUE when one of the following is true. The axis torque is greater than the trigger torque. The condition will not evaluate to TRUE if the axis torque is equal to the trigger torque. The following figure shows the change in the axis torque over several cycles. In the cycles for which the condition evaluates to TRUE, the torque is shown as a red dot, and in the cycles for which the condition evaluates to FALSE, the torque is shown as a black dot. The trigger torque is specified as a signed value. The comparison is evaluated as [axis torque > trigger torque], where both the axis torque and the trigger torque are signed values. To trigger the torque when the axis is applying more than the specified amount of torque in the negative direction, use the LessTrq input function. Alternatively, set the enableUnsigned option to 1 to specify the trigger torque as an unsigned value that will trigger when the axis is applying more than the specified amount of torque in either direction. Parameters are specified with the GreaterTrq struct.
LessTrq	Evaluates to TRUE when the torque of the specified axis is less than the specified value, and FALSE otherwise. The condition evaluates to TRUE when one of the following is true. The axis torque is less than the trigger torque. The condition will not evaluate to TRUE if the axis torque is equal to the trigger torque. The following figure shows the change in the axis torque over several cycles. In the cycles for which the condition evaluates to TRUE, the torque is shown as a red dot, and in the cycles for which the condition evaluates to FALSE, the torque is shown as a black dot. The trigger torque is specified as a signed value. The comparison is evaluated as [axis torque < trigger torque], where both the axis torque and the trigger torque are signed values. To trigger the torque when the axis is applying less than the specified amount of torque in the negative direction, use the GreaterTrq input function. Alternatively, set the enableUnsigned option to 1 to specify the trigger torque as an unsigned value that will trigger when the axis is applying less than the specified amount of torque in either direction. Parameters are specified with the LessTrq struct.