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. |
-
fPeriod currently supports 0.001 to 1 sec.
Return
|
Value |
Description |
|
1 |
The condition is True |
|
0 |
The condition is False |
Example
C++
// 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);