ID : 167

CurAcc

Function

To return an internal acceleration setting value.

Syntax

CurAcc[(arm group)]

Guaranteed Entry

Arm group: Designate an arm group number by integer type data. When "-1" is designated, the arm group for which the task has control is designated. This is an optional value. This should be "-1" if this is omitted.

Return Value

Return the Single Precision Real Number Type value from 0 to 100 for the current internal acceleration. The unit is "%."

Description

Internal acceleration of the designated arm group is returned. When "-1" is designated (or omitted) in the argument arm group, the internal acceleration of the arm group for which the task has control is returned.

When "-1" is designated and the task has control of no arm group, "0" is returned.

Attention

The value is not the acceleration of the current robot motion but internal acceleration setting value.

Example

'!TITLE "Acquiring Internal Acceleration"
' Calculate and output internal acceleration
Sub Sample_CurAcc

  Dim aaa As Single

  TakeArm Keep = 1

  ' Set acceleration to 50% of the current value
  Accel CurAcc * 0.5

  aaa = CurAcc

  ' Display the acceleration calculation result in message output
  PrintDbg aaa

End Sub