Determination of the static torque for each drive

Proceed as follows to determine the static torque:

  1. Set the MyRobot_DynamicModel.xWorkpieceLoaded variable to TRUE if a workpiece is gripped in the customer application.
  2. Move the robot to the position where the drive torque is (presumably) greatest and stop there.
  3. Read the static torque at the value of the Interface_MyRobot.Physics.Out.Drives[x].lrTorqueOrForce variable.