HealthRateRBInfo Function

Returns the consumption rate for the specified robot parts.

Syntax
HealthRateRBInfo(robotNumber, partType, jointNumber)

Parameters

robotNumber

Specify the robot number (integer (1-16)) for which the part wear rate is to be returned.

partType

Specify the part that returns the part wear rate as an integer value (1-6) or as a constant as shown below.

Constant	Value	Mode
HEALTH_ROBOT_TYPE_BATTERY	1	Specifies the batteries.
HEALTH_ROBOT_TYPE_BELT	2	Specifies the timing belts.
HEALTH_ROBOT_TYPE_GREASE	3	Specifies the grease.
HEALTH_ROBOT_TYPE_MOTOR	4	Specifies the motors.
HEALTH_ROBOT_TYPE_GEAR	5	Specifies the reduction gear units.
HEALTH_ROBOT_TYPE_BALL_SCREW_SPLINE	6	Specifies the ball screw spline.

jointNumber

Specify the joint that returns the part wear rate as an integer value (1-9). This command is unavailable for the additional axes.

Return Values
Real number representing the current parts consumption rate, when regarding the recommended replacement time as 100%. (Unit: %)

Returns “-1” when the robot does not have the specified parts.

Description
This command calculates the parts consumption rate based on the actual operating condition.

Notes

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The recommended replacement time is the recommended time to replace the parts calculated based on statistics.
Replacement may be required before the consumption rate reaches 100%.
In addition, the parts will not become immediately unusable when the consumption rate reaches 100%.
However, it is recommended to replace the parts soon as the possibility of breakage increases after the consumption rate reaches 100%.

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See Also
HealthRBAlarmOn, HealthRBInfo

HealthRateRBInfo Function Example
The example below outputs the alarm when the consumption rate of the Joint #3 reduction gear unit on the robot 1 reaches 90%.

Function AlarmCheck
Real HealthRate

HealthRate = HealthRateRBInfo(1, HEALTH_ROBOT_TYPE_GEAR,3)
If HealthRate > 90 Then
Print "Alarm ON"
EndIf
Fend