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ID : 3682

GetSrvData

Function

To return the servo internal data of the all axis.

Syntax

GetSrvData(data number)

Guaranteed Entry

Data number
Designate a data number to designate by integer type data.

Return Value

Return the designated data by joint type data.

Description

The servo internal data of the all axis is returned.

Data number Data type Unit Remark
1 Current motor speed value rpm
2 Motor angle deviation mm or deg
4 Absolute motor current value Rated ratio %
5 Motor torque command position (excluding dead weight compensation) Rated ratio %
7 Load factor %
8 Each axial position and angle command position mm or deg
17 Tool tip speed (work coordinates and position 3 component only) mm/s J(Vx, Vy, Vz, 0, 0, 0, 0, 0)
18 Tool tip deviation (work coordinates and position 3 component only) mm J(Dx, Dy, Dz, 0, 0, 0, 0, 0)
19 Tool tip speed (tool coordinates and position 3 component only) mm/s J(Vx, Vy, Vz, 0, 0, 0, 0, 0)
20 Tool tip deviation (tool coordinates and position 3 component only) mm J(Dx, Dy, Dz, 0, 0, 0, 0, 0)

Related Terms

GetAllSrvData

Attention

-

Example

'!TITLE "Acquisition of Servo Internal Data of the Robot Axis"
' Acquire current tool tip speed and calculate tool tip composite speed
Sub Sample_GetSrvData

  Dim aaa As Joint
  Dim bbb As Single
  Dim ccc As Single
  Dim ddd As Single
  Dim eee As Single

  ' Acquire tool tip speed and assign to aaa
  aaa = GetSrvData( 17 )

  ' Extract work coordinate X component and assign to bbb
  bbb = Joint( 1, aaa )

  ' Extract work coordinate Y component and assign to ccc
  ccc = Joint( 2, aaa )

  ' Extract work coordinate Z component and assign to ddd
  ddd = Joint( 3, aaa )

  ' Assign the result of tool tip composite sped calculation to eee
  eee = Sqr( bbb*bbb+ccc*ccc+ddd*ddd )

  ' Display the tool tip speed on the message output window
  PrintDbg aaa

  ' Display X, Y, Z components of work coordinate on the message output window
  PrintDbg bbb, ccc, ddd

  ' Display calculation result on the message output window
  PrintDbg eee

End Sub

ID : 3682

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