Mitsubishi Electric CR750-Q Instruction Manual page 336

4MELFA-BASIC V
J_Curr
[Function]
Returns the joint type data at the current position.
[Format]
Example) <Joint Type Variable>=J_Curr [(<Mechanism Number>)]
[Terminology]
<Joint Type Variable>
<Mechanism Number>
[Reference Program]
1 J1=J_Curr
[Explanation]
(1) The joint type variable for the current position of the robot specified by the mechanism number will be
obtained.
(2) This variable only reads the data.
[Reference]
P_Curr
4-316 Detailed explanation of Robot Status Variable
Specify a joint type variable to be assigned.
Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
' J1 will contain the current joint position.