MC-Basic:element.TORQUEGEARFEEDBACK

Language:	English

This property returns the torque acting on the gearbox output shaft, subtracting the friction torque and rotor inertia torque reflected to the gearbox output shaft. The calculation is based on the dynamic model used to calculate the counterpart property TorqueGearCommand, but uses feedback instead of command values.

Mathematically, this property is given by: $TgFbk=Tfb-CoulombFriction\cdot sign(Vfb)-ViscousFriction\cdot Vfb-J\cdot AccelFbk$

where $J=I_{rotorinertia}\cdot GR^{2}$ is the rotor inertia reflected to the gearbox output shaft, $I_{rotorinertia}$ is the rotor inertia relative to the rotor's rotation axis, and $GR$ is the gearbox gear ratio.

Short form

<element>.TgFbk

Syntax

?<element>.TorqueGearFeedback

Availability

0.4.20.4

Type

Double

Range

± MaxDouble

Units

User axis torque units, as given by <axis>.TORQUEFACTOR.

Scope

Task or Terminal

Limitations

Read only

Examples

Axis
?A1.Tgcmd

Group
?G1.Tgcmd

Robot
?R1.Tgcmd

See Also

• dynamic model
• torque feedback
• CoulombFriction
• ViscousFriction
• VelocityCommand
• AccelerationFeedback
• GearValue
• TorqueFactor