ID : 177

CurJnt

Function

To return the current angles of all axes by joint type data.

Syntax

CurJnt

Return value

Return the current angles of all axes by Joint Type data.

Description

The current axial angle detected by each axial encoder of the robot is returned by Joint Type data.

If the robot is in motion, a value at the time of execution of this instruction is returned.

A command position is returned in case of machine lock.

Attention

Example

'!TITLE "Acquiring Current Robot Angle"
' Acquire current robot angle by J type
Sub Sample_CurJnt

  Dim aaa As Joint
  Dim bbb As Joint

  TakeArm Keep = 1

  ' Assign the current joint angle to aaa
  aaa = CurJnt

  ' Assign results of 10 calculations of current joint angle in J1 and J2 to bbb
  bbb = Dev( aaa, J( 10, 10, 0, 0, 0, 0) )

  ' Display calculation result on the message output window
  PrintDbg bbb

End Sub