Robot.SpeedAngles Property

Returns an Angles Location whose components contain the instantaneous speeds of each of the robot's axes.

...Robot.SpeedAngles ( robot )

Prerequisites

None

Parameters

robot

An optional numeric expression that specifies the robot to be accessed (1-n). If this value is 0 or unspecified, the Selected robot will be accessed.

Remarks

This property returns the instantaneous speed of each of the robot's axes. These speeds are determined by sampling the encoder values, differencing and filtering these values, and then converting them to joint angles. The conversion to joint angles takes into consideration any mechanical coupling between the motors and other kinematic considerations.

This property returns the axes speed values in the Angles properties of an Angles Location. The speeds are in units of mm/sec or degrees/sec as appropriate.

Table 19-84 describes the data returned in the Location value.

Table 19-84: SpeedAngles Property, Location Value
Property	Returned Location Object value
Type	Angles Location
Angles	Set equal to the instantaneous speeds for each of the axes of the robot in mm/sec or deg/sec.
RefFrame	Always Null
Config	Always zeroed.
ZClearance	1.0e32 to indicate not initialized
All other properties	Always zeroed.

Examples

Dim RobotPos As Location 
Dim jt3 As Double
RobotPos =  Robot.SpeedAngles()        ' How fast is each axis moving?
jt3 = RobotPos.Angle(3)                ' Speed of axis 3