PeakSpeed Function

Returns the peak speed for the specified joint.

Syntax
PeakSpeed (jointNumber)

Parameters

jointNumber

Specify the joint number as an integer value or an expression. Additional S axis is 8, and T axis is 9.

Return Values
Real value from -1 to 1.

Description
PeakSpeed function 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 first, and then execute PeakSpeed 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 command does not support the PG additional axes.

See Also
AvgSpeed, PeakSpeedClear, PeakSpeed

PeakSpeed Function Example
This example uses the PeakSpeed function in a program:

Function DisplayPeakSpeed
   Integer i

   PeakSpeedClear
   Go P1
   Print "Peak Speeds:"
   For i = 1 To 6
      Print "Joint ", i, " = ", PeakSpeed (i)
   Next i
Fend