CDRFLEx.servoj
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 joint position within the maximum velocity and acceleration among commands transmitted continuously.
Parameter
Parameter Name | Data Type | Default Value | Description |
fTargetPos | float[6] | - | Target joint location for six axes |
fTargetVel | float[6] | - | Velocity |
fTargetAcc | float[6] | - | 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.
Return
Value | Description |
0 | Failed |
1 | Success |
Example
CPP
float q0[6] = { 0, 0, 90, 0, 90, 0 };
float jvel[6]={10, 10, 10, 10, 10, 10};
float jacc[6]= {10, 10, 10, 10, 10, 10};
drfl.servoj(q0, jvel, jacc, -10000);