ID : 176

CurJDec

Function

To return the internal axis deceleration.

Syntax

CurJDec[(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 deceleration. The unit is "%."

Description

Return an internal axis deceleration of the designated arm group. When designating (or omitting) "-1" for argument arm group, return an internal axis deceleration 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 speed of the current robot motion, but the setting value of internal speed.

Example

'!TITLE "Acquiring Internal Axis Deceleration"
' Acquire the current internal axis deceleration
Sub Sample_CurJDec

  Dim aaa As Single

  ' Assign the current internal axis deceleration to aaa
  aaa = CurJDec

  ' Display the current internal axis deceleration on the message output window
  PrintDbg aaa

End Sub