Features
It is an asynchronous type motion command and executes the next command at the same time as the motion starts. It is a motion that follows within the maximum speed and acceleration set for the most recent target joint speed among commands transmitted continuously.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
fTargetVel |
float[6] |
- |
Velocity |
|
fTargetAcc |
float[6] |
- |
Acelerlation |
|
fTargetTime |
float |
- |
Time [Sec] |
-
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.
-
If you want to stop normally with speed, input vel as [0,0,0,0,0,0] or use the stop command.
For safety, if a new speedj command is not transmitted for 0.1 [sec] during movement, an error message is displayed and it stops.
-
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 jvel={10, 10, 10, 10, 10, 10};
float jacc={20, 20, 20, 20, 20, 20};
drfl.speedj(jvel, jacc, -10000);