{"id":8698,"date":"2021-11-08T10:33:48","date_gmt":"2021-11-08T10:33:48","guid":{"rendered":"https:\/\/imperix.com\/doc\/?p=8698"},"modified":"2025-05-27T12:34:31","modified_gmt":"2025-05-27T12:34:31","slug":"torque-sensor-interface","status":"publish","type":"post","link":"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface","title":{"rendered":"TRQ &#8211; Torque sensor"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_82_2 ez-toc-wrap-right-text counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\/#Simulink-block\" >Simulink block<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\/#Signal-specification\" >Signal specification<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\/#Parameters\" >Parameters<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\/#PLECS-block\" >PLECS block<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\/#Signal-specification-2\" >Signal specification<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\/#Parameters-2\" >Parameters<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/imperix.com\/doc\/software\/torque-sensor-interface\/#C-functions\" >C++ functions<\/a><\/li><\/ul><\/nav><\/div>\n\n<p>The torque sensor (TRQ) block reads the voltage output of a torque sensor and converts it to torque. It targets drive applications.<\/p>\n\n\n\n<p>The B-Box RCP supports a single torque sensor through the&nbsp;<a target=\"_blank\" href=\"https:\/\/imperix.com\/wp-content\/uploads\/document\/Motor_interface_Datasheet.pdf\" rel=\"noreferrer noopener\"><\/a><a target=\"_blank\" href=\"https:\/\/imperix.com\/products\/electric-motor-drive-bundle\/#Motor_interface\" rel=\"noreferrer noopener\">Motor Interface for B-Box RCP<\/a>. The sensor&#8217;s output must be a voltage proportional to the applied torque. The TRQ block will then read the input voltage and convert it to torque, using the specified sensitivity and offset of the sensor.<\/p>\n\n\n\n<div class=\"wp-block-simple-alerts-for-gutenberg-alert-boxes sab-alert sab-alert-info\" role=\"alert\">The TRQ block is available starting from <a href=\"https:\/\/imperix.com\/downloads\/\">version 3.7.1.4<\/a> of the SDK. The Motor Interface for B-Box RCP is <strong>required<\/strong> to use this driver.<\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-simulink-block\"><span class=\"ez-toc-section\" id=\"Simulink-block\"><\/span>Simulink block<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-signal-specification\"><span class=\"ez-toc-section\" id=\"Signal-specification\"><\/span>Signal specification<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<ul class=\"wp-block-list\">\n<li>The output signal is the measured torque in [Nm].<\/li>\n\n\n\n<li>The <code>sim<\/code> input signal is used in simulation and represents the actual torque, computed by the simulation plant model.<\/li>\n\n\n\n<li>The <code>><\/code> input signal needs to be connected to the sampling clock generated by the <a href=\"https:\/\/imperix.com\/doc\/software\/config-control-task-configuration\">CONFIG block<\/a> to account for the exact sampling instant in simulation.<\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"101\" height=\"61\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-simulink.png\" alt=\"Screenshot of the torque sensor block for Simulink.\" class=\"wp-image-11071\"\/><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-parameters\"><span class=\"ez-toc-section\" id=\"Parameters\"><\/span>Parameters<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>Device ID<\/code> selects which B-Box\/B-Board to address when used in a multi-device configuration.<\/li>\n\n\n\n<li><code>Sensor sensitivity [V\/Nm]<\/code> defines the sensitivity of the sensor.<\/li>\n\n\n\n<li><code>Sensor offset [V]<\/code> defines the voltage offset of the sensor.<\/li>\n<\/ul>\n\n\n<div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"424\" height=\"343\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-simulink-params.png\" alt=\"Screenshot of the torque sensor parameters for the Simulink block.\" class=\"wp-image-11072\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-simulink-params.png 424w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-simulink-params-300x243.png 300w\" sizes=\"auto, (max-width: 424px) 100vw, 424px\" \/><\/figure>\n<\/div>\n\n\n<h2 class=\"wp-block-heading\" id=\"h-plecs-block\"><span class=\"ez-toc-section\" id=\"PLECS-block\"><\/span>PLECS block<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-signal-specification-1\"><span class=\"ez-toc-section\" id=\"Signal-specification-2\"><\/span>Signal specification<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:66.66%\">\n<ul class=\"wp-block-list\">\n<li>The output signal is the measured torque in [Nm].<\/li>\n\n\n\n<li>The <code>sim<\/code> input signal is used in simulation and represents the actual torque, computed by the simulation plant model.<\/li>\n\n\n\n<li>The <code>><\/code> input signal needs to be connected to the sampling clock generated by the <a href=\"https:\/\/imperix.com\/doc\/software\/config-control-task-configuration\">CONFIG block<\/a> to account for the exact sampling instant in simulation.<\/li>\n<\/ul>\n<\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\" style=\"flex-basis:33.33%\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"98\" height=\"71\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/04\/TRQ-1.png\" alt=\"Screenshot of the torque sensor block for PLECS.\" class=\"wp-image-11345\"\/><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<h3 class=\"wp-block-heading\" id=\"h-parameters-1\"><span class=\"ez-toc-section\" id=\"Parameters-2\"><\/span>Parameters<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>Device ID<\/code> selects which B-Box\/B-Board to address when used in a multi-device configuration.<\/li>\n\n\n\n<li><code>Sensor sensitivity [V\/Nm]<\/code> defines the sensitivity of the sensor.<\/li>\n\n\n\n<li><code>Sensor offset [V]<\/code> defines the voltage offset of the sensor.<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-is-layout-9d6595d7 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"342\" height=\"285\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-plecs-params-1.png\" alt=\"Screenshot of the torque sensor parameters for the PLECS block (addressing).\" class=\"wp-image-11080\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-plecs-params-1.png 342w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-plecs-params-1-300x250.png 300w\" sizes=\"auto, (max-width: 342px) 100vw, 342px\" \/><\/figure>\n<\/div><\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"342\" height=\"285\" src=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-plecs-params-2.png\" alt=\"Screenshot of the parameters for the PLECS block.\" class=\"wp-image-11081\" srcset=\"https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-plecs-params-2.png 342w, https:\/\/imperix.com\/doc\/wp-content\/uploads\/2022\/03\/TRQ-plecs-params-2-300x250.png 300w\" sizes=\"auto, (max-width: 342px) 100vw, 342px\" \/><\/figure>\n<\/div><\/div>\n<\/div>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"h-c-functions\"><span class=\"ez-toc-section\" id=\"C-functions\"><\/span>C++ functions<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n<style>.kt-accordion-id8698_c1d173-4f .kt-accordion-inner-wrap{column-gap:var(--global-kb-gap-md, 2rem);row-gap:1px;}.kt-accordion-id8698_c1d173-4f .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid 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.kt-accordion-inner-wrap{display:block;}.kt-accordion-id8698_c1d173-4f .kt-accordion-inner-wrap .kt-accordion-pane:not(:first-child){margin-top:1px;}.kt-accordion-id8698_c1d173-4f .kt-accordion-panel-inner{border-top:2px solid transparent;border-right:2px solid transparent;border-bottom:2px solid transparent;border-left:2px solid transparent;}.kt-accordion-id8698_c1d173-4f > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header{border-top:2px solid #f2f2f2;border-right:2px solid #f2f2f2;border-bottom:2px solid #f2f2f2;border-left:2px solid #f2f2f2;}.kt-accordion-id8698_c1d173-4f > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header:hover, \n\t\t\t\tbody:not(.hide-focus-outline) .kt-accordion-id8698_c1d173-4f .kt-blocks-accordion-header:focus-visible{border-top:2px solid #eeeeee;border-right:2px solid #eeeeee;border-bottom:2px solid #eeeeee;border-left:2px solid #eeeeee;}.kt-accordion-id8698_c1d173-4f .kt-accordion-header-wrap .kt-blocks-accordion-header:focus-visible,\n\t\t\t\t.kt-accordion-id8698_c1d173-4f > .kt-accordion-inner-wrap > .wp-block-kadence-pane > .kt-accordion-header-wrap > .kt-blocks-accordion-header.kt-accordion-panel-active{border-top:2px solid var(--global-palette6, #718096);border-right:2px solid var(--global-palette6, #718096);border-bottom:2px solid var(--global-palette6, #718096);border-left:2px solid var(--global-palette6, #718096);}}<\/style>\n<div class=\"wp-block-kadence-accordion alignnone\"><div class=\"kt-accordion-wrap kt-accordion-id8698_c1d173-4f kt-accordion-has-24-panes kt-active-pane-0 kt-accordion-block kt-pane-header-alignment-left kt-accodion-icon-style-arrow kt-accodion-icon-side-left\" style=\"max-width:none\"><div class=\"kt-accordion-inner-wrap\" data-allow-multiple-open=\"false\" data-start-open=\"none\">\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-27 kt-pane8698_b6fcb6-b0\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>MotInt_EnableMotorInterface<\/code> <\/code><strong>\u2014 <strong>Enable the drivers of the Motor Interface<\/strong><\/strong><\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-1\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp shcb-wrap-lines\"><span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">MotInt_EnableMotorInterface<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> device=<span class=\"hljs-number\">0<\/span>)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-1\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Enable the drivers of the Motor Interface.<\/p>\n\n\n\n<p>It has to be called in <code>UserInit()<\/code>.<\/p>\n\n\n\n<p><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>device<\/code>: the id of the addressed device (optional, used in multi-device configuration only).<\/li>\n<\/ul>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-21 kt-pane8698_119859-91\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Trq_AdjustSensorParams<\/code> <\/code><strong>\u2014 <strong>Adjust the sensor parameters<\/strong><\/strong><\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-2\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp shcb-wrap-lines\"><span class=\"hljs-function\"><span class=\"hljs-keyword\">void<\/span> <span class=\"hljs-title\">Trq_AdjustSensorParams<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">float<\/span> sensitivity, <span class=\"hljs-keyword\">float<\/span> offset, <span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> device=<span class=\"hljs-number\">0<\/span>)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-2\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Adjusts the sensitivity and offset of the sensor for calibration purposes.<\/p>\n\n\n\n<p>It has to be called in <code>UserInit()<\/code>.<\/p>\n\n\n\n<p><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>sensitivity<\/code>: defines the sensitivity of the sensor in [V\/Nm]<\/li>\n\n\n\n<li><code>offset<\/code>: defines the offset of the sensor in [V]<\/li>\n\n\n\n<li><code>device<\/code>: the id of the addressed device (optional, used in multi-device configuration only).<\/li>\n<\/ul>\n<\/div><\/div><\/div>\n\n\n\n<div class=\"wp-block-kadence-pane kt-accordion-pane kt-accordion-pane-23 kt-pane8698_845e18-ae\"><div class=\"kt-accordion-header-wrap\"><button class=\"kt-blocks-accordion-header kt-acccordion-button-label-show\"><span class=\"kt-blocks-accordion-title-wrap\"><span class=\"kt-blocks-accordion-title\"><code><code>Trq_GetTorque<\/code> <\/code><strong>\u2014 <strong>Get the torque<\/strong><\/strong><\/span><\/span><span class=\"kt-blocks-accordion-icon-trigger\"><\/span><\/button><\/div><div class=\"kt-accordion-panel kt-accordion-panel-hidden\"><div class=\"kt-accordion-panel-inner\"><pre class=\"wp-block-code\" aria-describedby=\"shcb-language-3\" data-shcb-language-name=\"C++\" data-shcb-language-slug=\"cpp\"><span><code class=\"hljs language-cpp shcb-wrap-lines\"><span class=\"hljs-function\"><span class=\"hljs-keyword\">float<\/span> <span class=\"hljs-title\">Trq_GetTorque<\/span><span class=\"hljs-params\">(<span class=\"hljs-keyword\">unsigned<\/span> <span class=\"hljs-keyword\">int<\/span> device=<span class=\"hljs-number\">0<\/span>)<\/span><\/span>;<\/code><\/span><small class=\"shcb-language\" id=\"shcb-language-3\"><span class=\"shcb-language__label\">Code language:<\/span> <span class=\"shcb-language__name\">C++<\/span> <span class=\"shcb-language__paren\">(<\/span><span class=\"shcb-language__slug\">cpp<\/span><span class=\"shcb-language__paren\">)<\/span><\/small><\/pre>\n\n\n<p>Gets the torque measurement in [Nm].<\/p>\n\n\n\n<p>It has to be called during the control interrupt.<\/p>\n\n\n\n<p><strong>Parameters<\/strong><\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><code>device<\/code>: the id of the addressed device (optional, used in multi-device configuration only).<\/li>\n<\/ul>\n<\/div><\/div><\/div>\n<\/div><\/div><\/div>\n","protected":false},"excerpt":{"rendered":"<p>The torque sensor (TRQ) block reads the voltage output of a torque sensor and converts it to torque. It targets drive applications. The B-Box RCP&#8230;<\/p>\n","protected":false},"author":8,"featured_media":33315,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_acf_changed":false,"_kad_post_transparent":"","_kad_post_title":"","_kad_post_layout":"","_kad_post_sidebar_id":"","_kad_post_content_style":"","_kad_post_vertical_padding":"","_kad_post_feature":"","_kad_post_feature_position":"","_kad_post_header":false,"_kad_post_footer":false,"_kad_post_classname":"","footnotes":""},"categories":[16],"tags":[],"software-environments":[105,103,104],"provided-results":[],"related-products":[50,32,166,51,114],"guidedreadings":[],"tutorials":[],"user-manuals":[],"coauthors":[62],"class_list":["post-8698","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-software","software-environments-c-plus-plus","software-environments-matlab","software-environments-plecs","related-products-acg-sdk","related-products-b-box-rcp","related-products-b-box-rcp-3-0","related-products-cpp-sdk","related-products-motor"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.3 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>TRQ - Torque sensor - Simulink, PLECS and C++ documentation<\/title>\n<meta name=\"description\" content=\"The torque sensor block reads the voltage output of a torque sensor and converts it to torque. 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