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change_operation_speed(speed)

Features

This function adjusts the operation velocity. The argument is the relative velocity in a percentage of the currently set velocity and has a value from 1 to 100. Therefore, a value of 50 means that the velocity is reduced to 50% of the currently set velocity.

Parameters

Parameter Name

Data Type

Default Value

Description

speed

int

-

operation speed(10~100)

Return

Value

Description

0

Success

Negative value

Error

Exception

Exception

Description

DR_Error (DR_ERROR_TYPE)

Parameter data type error occurred

DR_Error (DR_ERROR_VALUE)

Parameter value is invalid

DR_Error (DR_ERROR_RUNTIME)

C extension module error occurred

DR_Error (DR_ERROR_STOP)

Program terminated forcefully

Example

Python
change_operation_speed(10)
change_operation_speed(100)
#1. Motion with velocity specified to q0 and 20% of the specified velocity
q0 = posj(0, 0, 90, 0, 90, 0)         
movej (q0, vel=10, acc=20)        # Moves to q0 at a velocity of 10mm/sec
change_operation_velocity(10)     # The velocities of all following motions executed are 10% of the specified velocity.
q1 = posj(0, 0, 0, 0, 90, 0) 
movej (q1, vel=10, acc=20)       # Moves to q1 at a velocity of 10% of 10mm/sec.
change_operation_speed(100)      # The velocities of all following motions executed are 100% of the specified velocity.
movej (q0, vel=10, acc=20)       # Moves to q0 at a velocity 100% of 10mm/sec

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