Torque window
Warn or stop when an axis’s actual torque leaves its range.
less than a minute
The torque window watches the actual torque at the load, which reveals a collision, a blocked axis or a load that is heavier than expected. It exists on axes whose drive reports a torque.
| What | Details |
|---|---|
| Path | actuatorControlLoopNN/torqueWindowDetector |
| Watches | actuatorTorqueActualFiltered, in Nm |
To choose the levels, plot actuatorTorqueActual in Desk during normal work, including the heaviest load. Set high and low a margin beyond what you see, and tooHigh and tooLow below what the mechanics can take.