Denso SMT7 - Page 106

Chapter 4 Configuring the Joint Parameters
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GetJntData
Function
Gets the internal servo data of a specified joint.
Syntax
<JntInternalServoData> = GetJntData(<DataNumber>,<JntNumber>)
Description
GetJntData gets the internal servo data (specified by <DataNumber>) of a
joint specified by <JntNumber> into <JntInternalServoData>.
<JntInternalServoData>.is a floating point type data of the specified joint.
<DataNumber> should be any of the following:
<DataNumber> <JntInternalServoData>
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
Macro definition
Not needed
Related commands
GetSrvData
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
defsng vel
vel=GetJntData(1,7) 'Get motor speed of J7.