CDRFLEx.set_rt_control_input
Features
Set the input data (external controller → robot controller) communication configuration supported by real-time external control.
Parameter
Parameter Name | Data Type | Default Value | Description |
strVersion | string | - | Input Data Version |
fPeriod | float | - | Communication Period (sec). Range: 0.001~1 [sec] |
nLossCnt | int | - | In succession, if the input data or the servo control command is lost due to over the set count, the real-time control connection is disconnected. However, if set to -1, Loss Count is not checked. |
Note
- fPeriod currently supports 0.001 to 1 sec.
Return
Value | Description |
1 | The condition is True |
0 | The condition is False |
Example
CPP
// Connect and configure input data
CDRFLEx drfl;
drfl.connect_rt_control();
string version = “v1.0”;
float period = 0.001; // 1 msec
int losscount = 4;
drfl.set_rt_control_input(version, period, losscount);