what is the unit of $MISC[1].$HPD_TRQ[5]

[kamatcho]

Hi

I am trying to monitor  $MISC[1].$HPD_TRQ[5]   and calculate the min and max for a collision detection program.

with an M16iL and small weldspot gun of 10 Kg (20cm*20cm*20cm) I got
the min = -16.5 and the max = -5.8 at welding portion of the program  only and if I do it for the whole cycle the max go to 35.41

Does those numbers make a sense and whats the unit of this variable.

Thanks 

[Professor_J]

Percentage?

$MISC[1].$hpd_trq[9]
Minimum: -100.00 Maximum: 100.00
Name: High Precision Disturbance Torque
Description: This system variable shows disturbance torque(%) of each servo
motor. This value is more precise than $MOR_GRP.$CUR_DIS_TRQ.

[cunaf]

The HPD_TRQ monitoring is far too sensitive for figuring out Collision Detect values, and is more useful when traveling very slow, like 5mm/sec or less.  Also, you have to enable $MISC_MSTR.$HPD_ENB and cycle power to have these values active.