CDRFLEx.speedj
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 within the maximum speed and acceleration set for the most recent target joint speed among commands transmitted continuously.
Parameter
Parameter Name | Data Type | Default Value | Description |
fTargetVel | float[6] | - | Velocity |
fTargetAcc | float[6] | - | Acelerlation |
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.
- If you want to stop normally with speed, input vel as [0,0,0,0,0,0] or use the stop command.
For safety, if a new speedj command is not transmitted for 0.1 [sec] during movement, an error message is displayed and it stops.
Caution
- Currently, it is not linked with the operation speed adjustment function of the change_operation_speed function.
Return
Value | Description |
0 | Failed |
1 | Success |
Example
CPP
float jvel={10, 10, 10, 10, 10, 10};
float jacc={20, 20, 20, 20, 20, 20};
drfl.servol(jvel, jacc, -10000);