ID : 697

Current Position Get Function

Command name	Function
CurPos	To return the current position of the robot by position type data.
CurTrn	To return the current position of the robot by homogeneous translation type data.
CurJnt	To return the current angles of all axes by joint type data.
CurFig	To return the current robot figure (FIG) value.
CurTool	To return the current tool coordinate number.
CurWork	To return the current work coordinate number.
CurSpd	To return the internal speed setting value.
CurAcc	To return the internal acceleration setting value.
CurDec	To return the internal deceleration setting value.
CurExtSpd	To return the current setting value of external speed.
CurExtAcc	To return the current setting value of external acceleration.
CurExtDec	To return the current setting value of external deceleration.

ID : 697