Denso SMT7 - Internal Servo Data Get Commands

Chapter 4 Configuring the Joint Parameters
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4.9.3 Internal Servo Data Get Commands
GetSrvData
Function
Gets the internal servo data of robot joints.
Syntax
<InternalServoData> = GetSrvData(<DataNumber>)
Description
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:
<DataNumber> <InternalServoData>
1 Current motor speed (Actual speed) in rpm
2 Motor rotation angle error in pulses
4 Motor current absolute value in ratio (%) to the rated value
5 Motor torque control value (excluding torque offset) in ratio (%) to the rated value
8 Joint position or angle control value in mm or degrees
17 Tool-end speed (3 position elements only in the work coordinates) in mm/s
18 Tool-end positioning speed (3 position elements only in the work coordinates) in mm
19 Tool-end speed (3 position elements only in the tool coordinates) in mm/s
20 Tool-end positioning speed (3 position elements only in the tool coordinates) in mm
Macro definition
Not needed.
Related commands
GetJntData
Notes
(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.
Example
defjnt vel
defsng absv,xvel,yvel,zvel
vel=GetSrvData(17) 'Get tool-end speed.
xvel=JOINT(1,vel) 'Select X component in work coordinates.
yvel=JOINT(2,vel) 'Select Y component in work coordinates.
zvel=JOINT(3,vel) 'Select Z component in work coordinates.
absv = SQR(xvel*xvel+yvel*yvel+zvel*zvel) 'Calculate total tool-end speed.