CURJACC
(System Variable)
Gets the current internal acceleration of individual joints included in a currently held arm group.
CURJACC
Executing this command in a task holding no arm group will return a value of 100.
Ex1
|
DIM lf1 As Single
|
|
|
lf1 = CURJACC
|
'Assigns the current axis acceleration value to lf1.
|
|
JACCEL CURJACC * 0.5
|
'Sets the axis acceleration to 50% of the current speed.
|
Ex2(extended-joint)
|
PROGRAM PRO1
|
|
|
TAKEARM 1
|
'Get Arm Group 1.
|
|
JACCEL 70
|
'Specify acceleration of individual joints included
'in Arm Group 1 at 70.
|
|
I0=CURJACC
|
'Return current acceleration 70 of Arm Group 1 to I0.
|
|
END
|
|