ID : 178

CurJSpd

Function

To return the internal axis speed.

Syntax

CurJSpd[(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 speed. The unit is "%."

Description

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

Example

'!TITLE "Acquiring Internal Traveling Axis Speed"
' Assign the current internal traveling axis speed to aaa
Sub Sample_CurJSpd

  Dim aaa As Single

  ' Assign the current internal traveling axis speed to aaa
  aaa = CurJSpd

  ' Display the internal traveling axis speed on the message output window
  PrintDbg aaa

End Sub