CDRFLEx.speedl_rt
Features
This is a function that controls the task velocity from an external controller.
Parameter
Parameter Name | Data Type | Default Value | Description |
fTargetVel | float[6] | - | Target Task Velocity. [mm/s, deg/s] |
fTargetAcc | float[6] | - | Target Task Acceleration. [mm/s, deg/s] If None Values(-10000) entered, it is automatically calculated based on the target task velocity you entered. |
fTargetTime | float | - | Target Time [s] |
Note
- Asnyc Command.
- The inner profile is interpolated to reach (fTargetVel, fTargetAcc ) at fTargetTime .
- If fTargetTime <= controller’s control period (=1ms), control is performed at the corresponding speed without interpolation.
- If the next command is not received until arriving at fTargetVel, the last input velocity is maintained.
- However, for safety, if the next command is not received for 0.1[s], an error is generated as a time-out and stops.
- If the acceleration limit set globally during motion is exceeded, the motion is not stopped and an Info message is generated.
Caution
- In the current version, it is not linked with Operation Speed [%].
- In the current version, it does not work with the force/compliance control function.
- In the current version, it does not work with DR_VAR_VEL among the singularity options. If set, it is automatically set to the DR_AVOID option.
Return
Value | Description |
0 | Error |
1 | Success |
Example
CPP
float fTargetPos[6] = {1500, 3, 100, 0, 0, 0};
float fTargetVel[6] = {100, 100, 100, 100, 100, 100};
float fTargetAcc[6] = {100, 100, 100, 100, 100, 100};
float fTargetTime = 6;
Drfl.servol_rt(fTargetPos, fTargetVel, fTargetAcc, fTargetTime);