4-320 Detailed explanation of Robot Status Variable
4MELFA-BASIC V
J_ECurr
[Function]
Returns the current encoder pulse value.
[Format]
[Terminology]
<Joint Type Variable> Specify a joint type variable to be assigned.
<Mechanism Number> Enter the mechanism number. 1 to 3, If the argument is omitted, 1 is set as the
default value.
[Reference Program]
1 J1=J_ECurr(1) ' JA will contain the encoder pulse value of mechanism 1.
2 MA=JA. 1 ’ Loads the encoder pulse value of the J1 axis to the MA.
[Explanation]
(1) Although the value to be returned is a pulse value, use the joint type as the substitution type. Then, spec-
ify joint component data, and use by substituting in a numeric variable.
(2) This variable only reads the data.
Example) <Joint Type Variable>=J_ECurr [(<Mechanism Number>)]
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