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ID : 3681
GetAllSrvData
Function
Get the data that can be obtained with GetSrvData and CurJnt, at a time with time stamp.
Syntax
GetAllSrvData
Return Value
Return the obtained data with variant array.
| Elements of array | Data type | Unit |
|---|---|---|
| Time stamp | Double precision real number type | µs |
| Each axial position and angle current position | Joint type |
mm or deg |
| Each axial position and angle command position | Joint type | mm or deg |
| Motor angle deviation | Joint type | mm or deg |
| Current motor speed value | Joint type | rpm |
| Absolute motor current value | Joint type | Rated ratio % |
| Motor torque command position | Joint type | Rated ratio % |
| Load factor | Joint type | % |
| Tool tip speed(Work coordinates and Other than 3 component positions are 0) | Joint type | mm/s |
| Tool tip deviation(Work coordinates and Other than 3 component positions are 0) | Joint type | mm |
| Tool tip speed(Tool coordinates and Other than 3 component positions are 0) | Joint type | mm/s |
| Tool tip deviation(Tool coordinates and Other than 3 component positions are 0) | Joint type | mm |
Description
Get the data that can be obtained with GetSrvData and CurJnt, at a time with time stamp.
Related Terms
Attention
-
Example
Sub Main
Dim timeStamp As Double 'Time stamp
Dim curJntData As Joint 'Each axial position, angle current position
Dim cmdJntData As Joint 'Each axial position, angle command position
Dim jntErrData As Joint 'Motor angle deviation
Dim curVelData As Joint 'Current motor speed value
Dim curCurrentData As Joint 'Absolute motor current value
Dim cmdTrqData As Joint 'Motor torque command position
Dim loadRateData As Joint 'Load factor
Dim tcpVelDataW As Joint 'Tool tip speed（Work coordinates）
Dim tcpErrDataW As Joint 'Tool tip deviation（Work coordinates）
Dim tcpVelDataT As Joint 'Tool tip speed（Tool coordinates）
Dim tcpErrDataT As Joint 'Tool tip deviation（Tool coordinates）
' Get the data at a time
Dim vntData As Variant
vntData = GetAllSrvData
' Expand the data to each data
timeStamp = vntData(0)
curJntData = vntData(1)
cmdJntData = vntData(2)
jntErrData = vntData(3)
curVelData = vntData(4)
curCurrentData = vntData(5)
cmdTrqData = vntData(6)
loadRateData = vntData(7)
tcpVelDataW = vntData(8)
tcpErrDataW = vntData(9)
tcpVelDataT = vntData(10)
tcpErrDataT = vntData(11)
End SubID : 3681