ReadAxisActualTorque

Reads the actual torque from an axis.

Syntax

KsError ReadAxisActualTorque(
     int Index,
     short* Value
);

Parameters

Index: the index of an axis. Indexes are zero based. Aliases affect this parameter.

Value: pointer to the value to receive the velocity.

Return value

If the function succeeds, it returns errNoError, otherwise an error code. For more information about the error code, see the KsError list.

Remarks

Used in the cyclic callback to check the actual torque of an axis.

NOTE: Actual torque is available only if EnableActualTorque, or the torque modes in KsAccessMode are enabled. The torque modes can be set using SetAxisAccessMode.

Usable EtherCAT states

ecatOP

Example

Copy

short actualTorqueRead = 0;
nRet = ReadAxisActualTorque(0, &actualTorqueRead);

Requirements