DESTEXJ
(Statement)
Gets the target position of an extended-joint invoked by the current motion command into a floating-point variable. If the robot is on halt, this command will get the current position (commanded value).
DESTEXJ(<JntNumber>)
DESTEXJ reads the target position of an extended-joint invoked by the current motion command and specified by <JntNumber> into a floating-point variable.
To get a position detected by the encoder of an individual joint, use a CUREXJ command.
If a robot motion is stopped by entering Stop motion command (Refer to INTERRUPT ON/OFF stated later), the DESTEXJ will get the joint angle where the motion is stopped.
Example
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INTERRUPT ON
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DRIVEA(7,100)
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'Interrupt signal turns ON during motion.
'The 7th joint stops and the process advances
'to the next command.
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INTERRUPT OFF
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F1=DESTEXJ(7)
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'The value of F1 will not be 100 but the value
'of the angle where the joint stopped.
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PROGRAM PRO1
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DIM lf1 AS SINGLE
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TAKEARM 1
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DRIVEA (7,100),NEXT
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'Move 7th joint to an angle of 100 degrees.
'NEXT advances the process to the next command
'before the motion is completed.
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lf1 = DESTEXJ(7)
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'Assign target angle 100 of previously
'commanded motion into lf1.
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END
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