CDRFLEx.servol
Features
It is an asynchronous type motion command and executes the next command at the same time as the motion starts. It is a motion that follows the most recent target position among consecutive commands within the maximum speed and acceleration.
Parameter
Parameter Name | Data Type | Default Value | Description |
fTargetPos | float[6] | - | Target location for six axes |
fTargetVel | float[2] | - | Velocity |
fTargetAcc | float[2] | - | Acceleration |
fTargetTime | float | - | Time [sec] |
Note
- If fTargetTime is entered, if the arrival time cannot be kept due to the maximum speed/acceleration condition, it automatically adjusts and displays a notification message.
Caution
- Currently, it is not linked with the operation speed adjustment function of the change_operation_speed function.
- Currently, it is not linked with the DR_VAR_VEL option among the singularity processing options. When it is set as the DR_VAR_VEL option, it is automatically changed to the DR_AVOID option and a notification message is displayed.
- , it is not linked with the force/stiffness control command.
Return
Value | Description |
0 | Failed |
1 | Success |
Example
CPP
float q0[6] = { 368, 34.5, 442, 50, -180, 50 };
float jvel[2]={10, 10};
float jacc[2]={20, 20};
drfl.servol(q0, jvel, jacc, -10000);