CURJNT
(System Variable)
Obtains the current angle of the robot using type J.
{CURJNT | *}
The Joint angles detected by each axis encoder of the robot are stored using type J data.
If the robot is in operation the values are obtained when this instruction is executed.
If the destination pose is obtained use DESTJNT.
During operation with the machine lock function, the joint angles detected by the encoder of each axis are not stored but virtual joint angles (instruction angles) are stored.
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DIM lj1 As Joint
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lj1 = CURJNT
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'Assigns the current joint angle to lj1.
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6-axis
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lj1 = CURJNT + (10, 10, 0, 0, 0, 10)
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'Assign the current joint angles +
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'(10, 10, 0, 0, 0, 10) to lj1
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4-axis
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lj1 = CURJNT + (10, 10, 0, 0)
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'Assign the current joint angles +
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'(10, 10, 0, 0) to lj1
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