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ID : 199
GetSrvData
Function
To return the servo internal data of the all axis.
Syntax
GetSrvData(data number)
Guaranteed Entry
- Data number
- Designate a data number to designate by integer type data.
Return Value
Return the designated data by joint type data.
Description
The servo internal data of the all axis is returned.
| Data number | Data type | Unit | Remark |
|---|---|---|---|
| 1 | Current motor speed value | rpm | |
| 2 | Motor angle deviation | mm or deg | |
| 4 | Absolute motor current value | Rated ratio % | |
| 5 | Motor torque command position (excluding dead weight compensation) | Rated ratio % | |
| 7 | Load factor | % | |
| 8 | Position command value (linear motion axes) or angle command value (rotation axes) of each axis | mm or deg | |
| 17 | Tool tip speed (work coordinates and position 3 component only) | mm/s | J(Vx, Vy, Vz, 0, 0, 0, 0, 0) |
| 18 | Tool tip deviation (work coordinates and position 3 component only) | mm | J(Dx, Dy, Dz, 0, 0, 0, 0, 0) |
| 19 | Tool tip speed (tool coordinates and position 3 component only) | mm/s | J(Vx, Vy, Vz, 0, 0, 0, 0, 0) |
| 20 | Tool tip deviation (tool coordinates and position 3 component only) | mm | J(Dx, Dy, Dz, 0, 0, 0, 0, 0) |
Related Terms
Attention
-
Example
'!TITLE "Acquisition of Servo Internal Data of the Robot Axis"
' Acquire current tool tip speed and calculate tool tip composite speed
Sub Sample_GetSrvData
Dim aaa As Joint
Dim bbb As Single
Dim ccc As Single
Dim ddd As Single
Dim eee As Single
' Acquire tool tip speed and assign to aaa
aaa = GetSrvData( 17 )
' Extract work coordinate X component and assign to bbb
bbb = Joint( 1, aaa )
' Extract work coordinate Y component and assign to ccc
ccc = Joint( 2, aaa )
' Extract work coordinate Z component and assign to ddd
ddd = Joint( 3, aaa )
' Assign the result of tool tip composite sped calculation to eee
eee = Sqr( bbb*bbb+ccc*ccc+ddd*ddd )
' Display the tool tip speed on the message output window
PrintDbg aaa
' Display X, Y, Z components of work coordinate on the message output window
PrintDbg bbb, ccc, ddd
' Display calculation result on the message output window
PrintDbg eee
End SubID : 199