CDRFLEx.speedl
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 |
fTargetVel | float[6] | - | Velocity |
fTargetAcc | float[2] | - | Acelerlation |
fTargetTime | float | 0.f | 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.
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.
- 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 jvel={10, 10, 10, 10, 10, 10};
float jacc={20, 20};
drfl.speedl(jvel, jacc, -10000);