Servo Motion Function

The servo motion function does not use the motion provided by Doosan. It is a function that can be used by implementing the motion/force control algorithm in an external controller. When a real-time external controller system is built and an algorithm is implemented in the controller, the robot controller is a concept that processes it by simple transmission or interpolation.

Note

• Servo motion functions of real-time external control (ex. servoj_rt, servol_rt, speedj_rt, speedl_rt) must be built in a real-time environment by using real-time OS in the external controller to ensure real-time performance of the entire system. It also makes sense if the intermediate profile can be calculated externally. If a real-time environment cannot be built or the intermediate profile cannot be calculated externally, use the servo motion functions of general motion (ex. servoj, servol, speedj, speedl) in the existing api based on TCP/IP. In the servo motion function of general motion, if only the target value is changed in real time, the robot controller calculates the intermediate profile.