ID : 175

CurJAcc

Function

To return the internal axis acceleration.

Syntax

CurJAcc[(arm group)]

Guaranteed Entry

Arm group: Designate an arm group number by integer type data. When "-1" is designated, the arm group whose control acquired by the task will be designated. This is an optional value. This should be "-1" if this is omitted.

Return Value

Return a value (0 to 100) of the current internal axis acceleration. The unit is "%."

Description

Return an internal axis acceleration of the designated arm group. When designating (or omitting) "-1" for argument arm group, return an internal axis acceleration of the arm group whose control acquired by the task currently.

When "-1" is designated, return "0" if the task does not have any control of arm groups.

Attention

This does not mean the axis acceleration of the current robot motion, but the setting value of internal axis acceleration.

Example

'!TITLE "Acquiring Internal Axis Acceleration"
' Acquire the current internal acceleration
Sub Sample_CurJAcc

  Dim aaa As Single 

  ' Assign the current internal axis acceleration to aaa
  aaa = CurJAcc

  ' Display the internal axis acceleration on the message output window
  PrintDbg aaa

End Sub