Hello!
I´m looking to monitor the current and % disturbance torque of each axis.
I already found the $MOR_GRP[1] variables ($cur_dis_trq[n] , $MAX_DIS_TRQ[n]) and $MISC[1].$HPD_TRQ[n] variable.
The issue is that when I compare them to the disturbance shown in the "axis" screen on the TP, the values are not the same.
Do you know what is the relation between this variables?
I want to get the current disturbance and the max disturbance. Also for both, calculate the % related to the max allowed.