Chapter 12 Robot Control Statements
12-55
CURJSPD (System Variable)
Function
Gets the current internal speed of individual joints included in a currently held
arm group.
Format
CURJSPD
Explanation
Executing this command in a task holding no arm group will return a value of
100.
Related Terms
JSPEED, CURACC, CURDEC, CURJACC, CURJDEC, CURSPD
Example
Ex1 DIM lf1 As Single
lf1 = CURJSPD '
Assigns the current axis movement speed value to lf1.
JSPEED CURJSPD * 0.5 '
Sets the axis movement speed to 50% of the current value.
Ex2(extended-joint)
PROGRAM PRO1
TAKEARM 1 'Get Arm Group 1.
JSPEED 70 'Specify speed of individual joints in Arm Group 1
'at 70.
I0=CURJSPD 'Return current speed 70 of Arm Group 1 to I0.
END
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