# Accessing max joint torque through LogViewer csv

**URL:** <https://forum.universal-robots.com/t/accessing-max-joint-torque-through-logviewer-csv/12354>\
**Category:** Robot Communication\
**Created:** [February 16, 2021, 4:31am UTC](https://forum.universal-robots.com/t/accessing-max-joint-torque-through-logviewer-csv/12354 "2021-02-16T04:31:58Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![petter.oeberg](https://avatars.discourse-cdn.com/v4/letter/p/eb9ed0/32.png) [@petter.oeberg](https://forum.universal-robots.com/u/petter.oeberg)\
**Post date:** [February 16, 2021, 4:31am UTC](https://forum.universal-robots.com/t/accessing-max-joint-torque-through-logviewer-csv/12354/1 "2021-02-16T04:31:58Z")

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Hi!

We would like to know how to access the allowed joint torques per timestep through the csv data recorded by LogViewer.

**Background:**  
For a safety assessment project we use a simulator to calculate collision forces, and for simulation validation we compare the simulation forces with a recorded real world scenario where UR5e collides with a force tester.

The real world robot motions etc. have been logged using LogViewer to a csv-file, and from that we use **target\_q\_#** (joint angles) to drive the robot in the simulator.

In order to achieve somewhat accurate collision forces, we need to set maximum allowed joint torque per timestep in our simulator, but we are unsure of what corresponding value from the robot csv logs to use. Using [robot’s fixed max torques](https://www.universal-robots.com/articles/ur/max-joint-torques/) yields too strong forces, as expected, and while using logged csv’s **target\_moment\_#** gives better results the torque still seems a bit off at times, and robot can sometimes not maintain its target angles.

**Questions:**

1. Documentation of the safety function **SF7 Force Limit** says:

2. **Is there a way to get or calculate actual joint moment**? I found [this related post](https://forum.universal-robots.com/t/some-doubts-about-urscript-get-tcp-foce/4481/8), but the proposed method of finding motor constants by dividing target moment by target current does not yield constants, which makes me wonder if there is more to it? Also, would you consider exposing actual moment per joint in the future?

3. Are the values **target\_moment\_#** and **target\_current\_#** the final values set on the motor, or does the safety functions modify these values further such that the final values are “hidden”?

4. Is it possible for actual joint moment to become greater than _target\_moment\_#_?

Thanks!