# TG - Torque Gradient

Tools
ES STR SL ST SR QST IXB

This monitor checks that the gradient is within the limit.

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.
End Point Check | If set to Yes, only the gradient measured at the shut off point of the step is checked to be within the limits.
Trigger Torque | The angle measurement starts at this trigger. Must be > 0 and < Tool MaxTorque.
Damping | Frequency in which the gradient is being calculated. Must be > 0 and < 100 and < Angle window.
Low Limit | Lowest acceptable torque gradient. Must be >= -100.
High Limit | Highest acceptable torque gradient. 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
Angle Offset | Available when End Point Check is set to No. Specifies the degrees that the calculation of the gradient start after the trigger torque is passed for the first time.