CDRFLEx.servoj

Features

The command is the asynchronous motion command, and the next command is executed at the same time the motion begins. When the mode is set to Override mode, it follows the most recent target joint position in a motion within the maximum speed and acceleration among the continuously delivered commands. When the mode is set to Queue mode, it can store up to 100 previous commands and sequentially follow the path. When 100 waypoints have been stored in Queue mode, the command will not return until reaching the next waypoint. If an Override command is input during Queue mode, it ignores the previously stored waypoints and follows the most recent target joint position.

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]	-	Target joint location for six axes
fLimitVel	float[6]	-	Limit Velocity
fLimitAcc	float[6]	-	Limit Acceleration
fTargetTime	float	-	Time [sec]
eTargetMod	DR_SERVOJ_TYPE	DR_SERVO_QUEUE	Waypoint mode DR_SERVO_OVERRIDE: Recent command DR_SERVO_QUEUE: Queue mode (Keep waypoints)

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, 0.02, DR_SERVO_OVERRIDE);