PeakSpeed Method

Description
Returns the peak speed values for the specified joint.

Syntax
Function PeakSpeed (JointNumber As Integer) As Single

Parameters

• JointNumber
  An integer indicating the axis number (range: 1 to number of joints of the robot)

Return Value
Real value from -1 to 1.

Remarks
This method returns the value of the maximum absolute speed for the joint with a sign. The peak speed is a real number from -1 to 1 with 1 being the maximum speed.

Execute PeakSpeedClear method first, and then execute this method to display the peak speed value for the joint.

When using the virtual controller or conducting dry-run, the average of the absolute speed values is calculated from the commanded speed instead of the actual speed.
This method does not support the PG additional axes.

See Also
AvgSpeed Method, AvgSpeedClear Method, PeakSpeedClear Method

PeakSpeed Example
VB Example:

Dim val As Single  
val = m_spel.PeakSpeed(1)  

C# Example:

float val;  
val = m_spel.PeakSpeed(1);