TG - Torque Gradient

Tools

ES

STR

SL

ST

SR

QST

IXB

This restriction checks the gradient and if it is outside the limits the tool is stopped immediately and the program jumps to the end of the program.

Parameter	Description
Gradient Angle Window	Specifies Angle Window: For Hard Joint: Angle Window = 1 deg. For Soft Joint: Angle Window = 20 deg. Manual: Manually set Angle Window.
Angle Window	Available when Gradient Angle Window is set to Manual. Must be > 0 and <= 100.
Trigger Torque	Must be > 0 and < Tool MaxTorque.
Damping	Frequency in which the gradient is being calculated. Must be > 0 and < 100 and < Angle window.
Minimum Limit	Must be >= -100.
Maximum Limit	Must be > -100 and > Low limit.
Torque Filter Type	The type of the filter: None: No filtering of the torque is used. The raw values are used as-is in the gradient calculation. Five-point: The torque value used in the calculation are filtered using a sliding average filter over 5 torque samples. Low pass: The torque values is filtered with a simple discrete Infinite Impulse Response filter. Sliding Average: The torque values used in the calculation are filtered using a sliding average filter over a Number of Samples specified by the use.
Cut-off Frequency	Needs to be specified when Torque Filter Type is set to Low pass: 20 Hz 40 Hz 90 Hz 200 Hz 600 Hz
Number of Samples	Needs to be specified when Torque Filter Type is set to Sliding Average: 2 4 6 8 16 32