# 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