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ID : 3683
GetSrvJntData
Function
To return the servo internal data of the designated axis.
Syntax
GetSrvJntData(data number, axis number)
Guaranteed Entry
- Data number
- Designate a data number corresponding to servo internal data by integer type data.
- Axis number
- Designate an axis number by integer type data.
Return Value
Return the servo internal data by single precision real number type data.
Description
The servo internal data of an axis designated by data number and axis number are returned by single precision real number type.
The following data are returned by data number.
| Data number | Data type | Unit |
|---|---|---|
| 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 % |
| 8 | Each axial position and angle command position | mm or deg |
Related Terms
-
Attention
-
Example
'!TITLE "Acquisition of Servo Internal Data of the Assigned Axis"
' Acquire each axis position and each angle command position of axis 1
Sub Sample_GetSrvJntData
Dim aaa As Single
' Assign each axis position and each angle command position of axis 1 to aaa
aaa = GetSrvJntData( 8, 1 )
' Display each axis position and each angle command position of axis 1 on the message output
window
PrintDbg aaa
End SubID : 3683