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
|
-
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.
-
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
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);