4MELFA-BASIC IV
Detailed explanation of Robot Status Variable 4-268
J_Curr
[Function]
Returns the joint type data at the current position.
[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_Curr ' J1 will contain the current joint position.
[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
Example) <Joint Type Variable>=J_Curr [(<Mechanism Number>)]
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