# Actual torque of motors

**URL:** <https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342>\
**Category:** Robot Controller\
**Created:** [October 31, 2014, 10:24am UTC](https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342 "2014-10-31T10:24:54Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![fremebondo](https://avatars.discourse-cdn.com/v4/letter/f/3da27b/32.png) [@fremebondo](https://tech-community.robotics.abb.com/u/fremebondo)\
**Post date:** [October 31, 2014, 10:24am UTC](https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342/1 "2014-10-31T10:24:54Z")

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Hi everyone,

I was wondering if there is a way to get the actual value of motors torque in RAPID programming, in order to take decisions depending on their values.

Anyone managed to do that?

Thanks a lot,  
Gabriele

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**Author:** ![soup](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/soup/32/1592_2.png) [@soup](https://tech-community.robotics.abb.com/u/soup)\
**Post date:** [October 31, 2014, 8:28pm UTC](https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342/2 "2014-10-31T20:28:31Z")

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Just curious – what would you do with motor torque values? Detect a hit to be used in a search?

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**Author:** ![fremebondo](https://avatars.discourse-cdn.com/v4/letter/f/3da27b/32.png) [@fremebondo](https://tech-community.robotics.abb.com/u/fremebondo)\
**Post date:** [November 7, 2014, 1:45pm UTC](https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342/3 "2014-11-07T13:45:03Z")

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I want to measure the torque of all joints in a precise joint configuration during tuning, then compare all these torques at run time, when the robot is in the same joint config, to verify if the payload held by a gripper has changed.

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<div class="post-metadata">

**Author:** ![fremebondo](https://avatars.discourse-cdn.com/v4/letter/f/3da27b/32.png) [@fremebondo](https://tech-community.robotics.abb.com/u/fremebondo)\
**Post date:** [December 5, 2014, 3:08pm UTC](https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342/4 "2014-12-05T15:08:19Z")

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Any ideas?

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**Author:** ![Micky](https://avatars.discourse-cdn.com/v4/letter/m/a5b964/32.png) [@Micky](https://tech-community.robotics.abb.com/u/Micky)\
**Post date:** [January 6, 2015, 1:54pm UTC](https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342/5 "2015-01-06T13:54:39Z")

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Hi,

in RobotWare 6.0 a new function “GetMotorTorque” is introduced.

In the older RobotWare you can maybe use the TestSignal instructions (TestSignDefine and TestSignRead) to get the motor torque.

BR

Micky

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<div class="post-metadata">

**Author:** ![fremebondo](https://avatars.discourse-cdn.com/v4/letter/f/3da27b/32.png) [@fremebondo](https://tech-community.robotics.abb.com/u/fremebondo)\
**Post date:** [January 7, 2015, 8:03am UTC](https://tech-community.robotics.abb.com/t/actual-torque-of-motors/6342/6 "2015-01-07T08:03:46Z")

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> [@Micky](#):
>
> Hi,
> 
> in RobotWare 6.0 a new function “GetMotorTorque” is introduced.
> 
> In the older RobotWare you can maybe use the TestSignal instructions (TestSignDefine and TestSignRead) to get the motor torque.
> 
> BR
> 
> Micky

Thank you! That’s exactly what I need.

G.