CDRFLEx.change_operation_speed

Features

This function adjusts the operation velocity. The argument is the relative velocity in a percentage of the currently set velocity and has a value from 1 to 100. Therefore, a value of 50 means that the velocity is reduced to 50% of the currently set velocity.

Parameter

Parameter Name	Data Type	Default Value	Description
speed	float	-	operation speed(10~100)%

Return

Value	Description
0	Failed
1	Success

Example

CPP

Drfl.change_operation_speed(10);
string strDrlProgram = "loop = 0\nwhile loop < 3:\n  movej(posj(10,10.10,10,10.10), vel=60, acc=60)\n  movej(posj(00,00.00,00,00.00), vel=60, acc=60)\n  loop+=1\n  movej(posj(10,10.10,10,10.10), vel=60, acc=60)";

if (Drfl.get_robot_state() == STATE_STANDBY) {
    Drfl.set_robot_mode(ROBOT_MODE_AUTONOMOUS);
    if (Drfl.get_robot_mode() == ROBOT_MODE_AUTONOMOUS) {
    // Autonomous Mode
    ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
    Drfl.drl_start(eTargetSystem, strDrlProgram);
    }
}