AvgSpeed Statement

Displays the average of the absolute speed values for the specified joints.

Syntax
AvgSpeed [jointNumber]

Parameters

jointNumber

Optional. Integer expression representing the joint number. The additional S axis is 8 and T axis is 9.

Return Values
Displays the average of the absolute values of current speed for the specified joints. If no joint is specified, the average of the absolute speed values for all joints will be displayed.

Description
AvgSpeed displays the average value of the absolute speed values for the specified joints. The loading state of the motor can be obtained by this instruction. The result is a real value from 0 to 1 with 1 being the maximum average speed value.

If the average value is below 0.001, the result will be displayed as 0.

You must execute AvgSpeedClear before this command is executed.

This instruction is time restricted. You must execute AvgSpeed within 60 seconds after AvgSpeedClear is executed. When this time is exceeded, error 4088 occurs.

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 command does not support the PG additional axes.

See Also
AvgSpeedClear, AvgSpeed Function, PeakSpeed

AvgSpeed Statement Example

> AvgSpeedClear
> Go P1
> AvgSpeed 1
     0.226
> AvgSpeed
     0.226    0.133
     0.064    0.207
     0.003    0.314
     0.000    0.000
     0.000
>