Commands that can be useful when measuring stopping time and stopping distance

Commands	Functions
Where	Returns the data of the robot’s current position
RealPos	Returns the current position of the specified robot Unlike the motion target position of the CurPos, this obtains the position of the actual robot from the encoder in real time.
PAgl	Returns by calculating the Joint position from the specified coordinate value. P1 = RealPos 'Obtain the current position Joint1 = PAgl (P1, 1) ‘ Request the J1 angle from the current position
Tmr	The Tmr function returns the elapsed time from when the timer starts in seconds.
Xqt	Runs the program specified with the function name and complete the task. The function used to measure the stopping time and stopping distance should be used to run tasks that were launched by attaching the NoEmgAbort options. You can run a task that does not stop with the emergency stop and safeguard open.

For more information, refer to the following manual.

"Epson RC+ SPEL+ Language Reference"