RealPls Function

Returns the pulse value of the specified joint.

Syntax
RealPls(jointNumber)

Parameters

Joint number

Specifies the joint that returns the current pulse value. Additional S axis is 8, and T axis is 9.

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

Description
RealPls 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

RealPls Function Example

Function DisplayPulses

  Long joint1Pulses

  joint1Pulses = RealPls(1)
  Print "Joint 1 Current Pulse Value: ", joint1Pulses
Fend