Internal Servo Data Get Commands - Denso SMT7 Instruction Manual

Chapter 4 Configuring the Joint Parameters
4.9.3

Internal Servo Data Get Commands

GetSrvData
Function
Syntax
Description
<DataNumber>
1
2
4
5
8
17
18
19
20
Macro definition
Related commands
Notes
Example
defjnt vel
defsng absv,xvel,yvel,zvel
vel=GetSrvData(17)
xvel=JOINT(1,vel)
yvel=JOINT(2,vel)
zvel=JOINT(3,vel)
absv = SQR(xvel*xvel+yvel*yvel+zvel*zvel) 'Calculate total tool-end speed.
Gets the internal servo data of robot joints.
<InternalServoData> = GetSrvData(<DataNumber>)
GetSrvData gets the internal servo data specified by <DataNumber> into
<InternalServoData>.
<InternalServoData> is a joint type data of robot. <DataNumber should
be any of the following:
<InternalServoData>
Current motor speed (Actual speed) in rpm
Motor rotation angle error in pulses
Motor current absolute value in ratio (%) to the rated value
Motor torque control value (excluding torque offset) in ratio (%) to the rated value
Joint position or angle control value in mm or degrees
Tool-end speed (3 position elements only in the work coordinates) in mm/s
Tool-end positioning speed (3 position elements only in the work coordinates) in mm
Tool-end speed (3 position elements only in the tool coordinates) in mm/s
Tool-end positioning speed (3 position elements only in the tool coordinates) in mm
Not needed.
GetJntData
(1) Data numbers other than those given above are reserved. Do not use any
other number other than the above, although no error will result if you
specify any number up to 30.
(2) If you attempt to fetch the servo data when the single-joint servo data
monitor is running, the fetching process may become very slow. Take care
when using the single-joint servo data monitor.
(3) If you change <DataNumber>, the modification may take time. Do not
change it so frequently.
(4) Execute this command in a TAKEARMed task that holds an arm
semaphore. If not in a TAKEARMed task, the error "21F7: Cannot take arm
semaphore" will result.
'Get tool-end speed.
'Select X component in work coordinates.
'Select Y component in work coordinates.
'Select Z component in work coordinates.
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