10.5.3.27. ActuStat

Records the motor load factor and encoder value of each axis in the variables

Description	Stores the maximum motor load factor (I/Ir), load factor length, maximum encoder error value, and encoder length of each axis of the robot
Syntax	SectStat <Start/End> <Variable Name>
Parameter	Start/End	Start if 1 and end if 0	0: End 1: Start
	Variable Name	Real variable to start storing for each axis	Real type variable such as V1!
Example of use	ActuStat 1, V1! S1 MOVE P,S=5%,A=1,T=1 S2 MOVE P,S=5%,A=0,T=1 SectStat 0 END Based on the six-axis robot, with this program, it is possible to record the maximum motor load factor (V1!–V6!), load factor length (V7!–V12!), maximum encoder error value (V13!–V18!), and torque length (V19!–V24!) for each axis, among V1!–V24!, in the variables.

l “Variable overriding”

Because the last variable will be stored, the previous variable may be lost.

l “Condition for ending”

When multiple ActuStat commands are started, each should be ended individually.