ID : 3043

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	ms
Position command value (linear motion axes) or angle command value (rotation axes) of each axis	Joint type	mm or deg
Current position value (linear motion axes) or current angle value (rotation axes) of each axis	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

GetSrvData、CurJnt

Attention

Example

Sub Main

  Dim timeStamp As Double    'Time stamp
  Dim cmdJntData As Joint    'Position command value (linear motion axes) or angle command value (rotation axes) of each axis
  Dim curJntData As Joint    'Current position value (linear motion axes) or current angle value (rotation axes) of each axis  
  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)
  cmdJntData = vntData(1)
  curJntData = 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 Sub

ID : 3043

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