Denso RC5 Specifications download pdf (Page 300)

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

If the destination pose is obtained use DESTJNT.

Related Terms

DESTJNT, CURPOS, CURTRN

DIM lj1 As Joint

lj1 = CURJNT 'Assigns the current joint angle to

6-axis lj1 = CURJNT + (10, 10, 0, 0, 0, 10)

'Assign the current joint angles +

'(10, 10, 0, 0, 0, 10) to lj1

4-axis lj1 = CURJNT + (10, 10, 0, 0)

'Assign the current joint angles +

'(10, 10, 0, 0) to lj1

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.

Denso RC5 Specifications Page 300