ID : 188

DestJnt

Function

To return the current motion statement target position by joint type data.

Syntax

DestJnt

Return value

Return the current motion instruction target position by Joint Type data.

Description

The current motion instruction target position is returned by Joint Type data.

The current position (command position) is returned when the robot is stopped.

Attention

If a motion is interrupted by "Interrupt" and "MotionSkip" commands that stop the motion by a motion instruction, the target position is modified at the time of interruption.

Example

'!TITLE "Acquiring Motion Instruction Target Position"
' Acquire the current motion instruction target position by J type
Sub Sample_DestJnt

  Dim aaa As Joint
  Dim bbb As Joint

  TakeArm Keep = 1

  aaa = J( 30, 40, 50, 0, 0, 0 )

  ' Move to the next processing after starting a motion to aaa coordinate position
  Move P, @P aaa, Next

  ' Acquire the motion instruction target position by J type
  bbb = DestJnt

  ' Display the target position on the message output window
  PrintDbg bbb

End Sub