ID : 168

CurDec

Function

To return an internal deceleration setting value.

Syntax

CurDec[(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. The unit is "%."

Description

Internal deceleration of the designated arm group is returned. When "-1" is designated (or omitted) in the argument arm group, the internal deceleration 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 deceleration of the current robot motion but internal deceleration setting value.

Example

'!TITLE "Acquiring Internal Deceleration"
' Display the internal deceleration calculation result
Sub Sample_CurDec

  Dim aaa As Single

  ' Set deceleration to 50% of the current value
  Decel CurDec * 0.5

  aaa = CurDec

  ' Display the deceleration calculation result in message output
  PrintDbg aaa

End Sub