JRange Function

Returns the permissible working range of the specified joint in pulses.

Syntax
JRange(jointNumber, paramNumber)

Parameters

Joint number

Specify the reference joint number (integer from 1 to 9) by an expression or numeric value. Additional S axis is 8 and T axis is 9.

paramNumber

Specify one of the following two values as an integer value.

• 1: Specifies lower limit value.
• 2: Specifies upper limit value.

Return Values
Range configuration (integer value, pulses) of the specified joint.

See Also
Range, JRange Statement

JRange Function Example

Long i, oldRanges(3, 1)

For i = 0 To 3
    oldRanges(i, 0) = JRange(i + 1, 1)
    oldRanges(i, 1) = JRange(i + 1, 2)
Next i