How can I get joint motor current data from the robot controller?

Hello,
I'm currently working on a project to monitor the joint torques of a robot in real time.
To achieve this, I would like to receive real-time current data for each joint directly from the robot controller.
The robot I'm using is a Staubli TX90, and the controller is a CS8C.
Could you please advise me on how to obtain this data?

Thank you in advance for your help.

Quote from klausi

Hi Choisuu

You may check VAL3 instruction getJointForce()

Best regards

Thank you for your comment.
Do you know any way to receive the current data of each joint without using VAL3 functions?

Any suggestions would be greatly appreciated.