CUREXJ
(Statement)
Gets the current angle of an extended-joint into a floating-point variable.
CUREXJ(<JntNumber>)
CUREXJ reads an angle detected by the encoder of an extended-joint specified by <JntNumber> into a floating-point variable. If the specified joint is in motion, this command will get the current angle of the joint detected when this command executes.
To get the target angle of an extended-joint, use a DESTEXJ command.
When the machine is locked (Machine Lock state), the CUREXJ command will get not an angle detected by an encoder but a virtual angle (commanded angle).
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PROGRAM PRO1
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DIM lf1 AS SINGLE
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TAKEARM 1
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DRIVEA (7,100)
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'Move the 7th joint to an angle of 100 degrees.
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lf1 = CUREXJ(7)
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'Assign current position of 7th joint to lf1.
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END
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