Pls Function

Returns the current encoder pulse count for each joint at the current position.

Syntax
Pls(jointNumber)

Parameters

jointNumber

Specify the joint for which the current pulse value is desired. Additional S axis is 8, and T axis is 9.

Return Values
Returns a number value representing the current encoder pulse count for the joint specified by jointNumber.

Description
Pls is used to read the current encoder position (or Pulse Count) of each joint. These values can be saved and then used later with the Pulse command.

See Also
CX, CY, CZ, CU, CV, CW, Pulse

Pls Function Example
Shown below is a simple example to get the pulse values for each joint and print them.

Function plstest
  Real t1, t2, z, u
  t1 = pls(1)
  t2 = pls(2)
  z = pls(3)
  u = pls(4)
  Print "T1 joint current Pulse Value: ", t1
  Print "T2 joint current Pulse Value: ", t2
  Print "Z joint current Pulse Value: ", z
  Print "U joint current Pulse Value: ", u
Fend