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CurPathPoint
Function
Returns the most recently passed path point number.
Syntax
CurPathPoint[(mode)]
Guaranteed Entry
- Mode
- Designate a mode as integer type data. This can be omitted.
Return Value
Returns the largest value in the specified mathematical expression as double precision type data.
Description
Returns the most recently passed path point number.
About Modes
Specifies whether to judge the passage by the "command value" or "encoder value."
| Argument | Content |
|---|---|
| 0 | Command value |
| 1 (default) | Encoder value |
Related Terms
Spline Motion, Path Point Registration Function, LoadPathPoint, AddPathPoint, ClrPathPoint, GetPathPoint, CurPathPoint
Attention
If the position and posture of adjacent path points are very close to each other in the registered path data, the latter path point is not reflected in the path and will not be the return value of CurPathPoint.
Example
<MoveSpline.pcs>
Program performing spline motion
Sub Main
TakeArm
Run SplineMonitor
Move S, 1
End Sub<SplineMonitor.pcs>
Program outputting the block time
Sub Main
Dim n As Integer 'Counter
Dim aaa As Integer 'Meaurement start time
Wait CurPathPoint >= 1 'Waiting for spline motion
aaa = Timer
n = 2
Do
If CurPathPoint = 0 Then Exit Do
Wait CurPathPoint >= n
PrintDbg "Block" & (CurPathPoint - 1), (Timer - aaa) & "ms"
aaa = Timer
n = CurPathPoint + 1
Loop
End Sub