Introduction of commands that are useful in measuring the stopping time and stopping distance

Commands	Functions
Where	Displays the data of the robot’s current position.
RealPos	Returns the specified robot’s current position. Unlike the CurPos’s motion target position, it receives the robot's position from the encoder.
PAgl	Returns by calculating the Joint’s position from the specified coordinate value. P1 = RealPos ‘Gets the current position. Joint1 = PAgl (P1, 1) ‘ Call for J1’s angle from the current position
SF_RealSpeedS	Displays the current speed from the Safety Limited Speed in mm/s.
Tmr	The Tmr function returns the time, in seconds, since the timer starts.
Xqt	Runs the program specified by the function name and creates a task. Run the functions used to measure the stopping time and stopping distance with the task that was setup by installing the NoEmgAbort option. Run tasks that does not stop even with the emergency stop or when the safeguard is open.

For details, refer to the following manual.
“Epson RC+ SPEL+ Language Reference”