Denso RC5 Dokumentacja Pobierz pdf (Strona 307)

100

101

Chapter 12 Robot Control Statements

12-31

DESTEXJ (Statement)

Function

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).

Format

DESTEXJ(<JntNumber>)

Explanation

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.

Related Terms

CUREXJ, DESTJNT, DESTPOS, and DESTTRN

Example

PROGRAM PRO1

DIM lf1 AS SINGLE

TAKEARM 1

DRIVEA (7,100),NEXT 'Move 7th joint to an angle of 100 degrees.

'NEXT advances the process to the next command

'before the motion is completed.

lf1 = DESTEXJ(7) 'Assign target angle 100 of previously

'commanded motion into lf1.

END

Notes

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

INTERRUPT ON

DRIVEA(7,100) 'Interrupt signal turns ON during motion.

'The 7th joint stops and the process advances

'to the next command.

INTERRUPT OFF

F1=DESTEXJ(7) 'The value of F1 will not be 100 but the value

'of the angle where the joint stopped.

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