Torque Read Function

TRQNM axis number

Function
Returns the value of torque
Parameter
Specifies axis number to read torque
Explanation
Returns torque value of specified axis.
Unit is Nm.
Errors will be occurred under the following condition.
Specified axis does not exist. In this case, E1094 Illegal joint number will be occurred.
Specified axis is Mitsubishis motor. In this case, P2080 Can not execute because of the channel
assigned joint No., will be occurred.

Example
If the torque of jt2 is bigger than 2.0Nm, program bb is called. If not, program cc is called.
.PROGRAM aa()
IF TRQNM2 > 2.0 THEN
CALL bb
ELSE
CALL cc
END
.END

Current read function

IQARM axis number

Function
Returns the value of current.
Parameter
Specifies axis number to read current.
Explanation
Returns current value of specified axis.
Unit is A(rm).
Errors will be occurred under the following condition.
Specified axis does not exist. In this case, E1094 Illegal joint number will be occurred.
Number of requests for axis information, where command etc., have already exceeded 4.
In this case, E1145 Cannot use specified channel, already in use will be occurred.

Example
If the current of jt2 is bigger than 2.0A(rm), program bb is called. If not, program cc is called.
.PROGRAM aa()
IF IQARM2 > 2.0 THEN
CALL bb
ELSE
CALL cc
END
.END