set_accx()
set_accx(acc1, acc2)
Features
This function sets the acceleration of the task space motion globally. The globally set acceleration accx is applied as the default acceleration if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit input of the acceleration value. In the set value, acc1 and acc2 define the linear acceleration and rotating acceleration, relatively, of the TCP.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
acc1 | float | - | acceleration 1 |
acc2 | float | - | acceleration 2 |
Return
Value | Description |
|---|---|
0 | Success |
Exception
Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
P0 = posj(0,0,90,0,90,0)
movej(P0)
P1 = posx(400,500,800,0,180,0)
P2 = posx(400,500,500,0,180,0)
movel(P1, vel=10, acc=20)
set_velx(30,20) # The global task velocity is set to 30(mm/sec) and 20(deg/sec).
set_accx(60,40) # The global task acceleration is set to 60(mm/sec2) and 40(deg/sec2).
movel(P2) # The task motion acceleration to P2 is 60(mm/sec2) and 40(deg/sec2) which is the global acceleration.
movel(P1, vel=20, acc=40) # The task motion acceleration to P1 is 40(mm/sec) and 40(deg/sec2) which is the specified acceleration.Related commands
Keyword
set / set_ / accx
set_accx(acc)
Features
This function sets the linear acceleration of the task space motion globally. The globally set acceleration acc is applied as the default acceleration if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit input of the acceleration value. The set value acc defines the linear acceleration of the TCP while the rotating acceleration of the TCP is determined proportionally to the linear acceleration.
Parameters
Parameter Value | Data Type | Default Value | Description |
|---|---|---|---|
acc | float | - | acceleration |
Return
Value | Description |
|---|---|
0 | Success |
Exception
Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
P0 = posj(0,0,90,0,90,0)
movej(P0)
P1 = posx(400,500,800,0,180,0)
P2 = posx(400,500,500,0,180,0)
movej(P0, vel=10, acc=20)
movel(P1, vel=10, acc=20)
set_velx(30) # The global task velocity is set to 30 (mm/sec). The global task angular velocity is automatically determined.
set_accx(60) # The global task acceleration is set to 60 (mm/sec2). The global task angular acceleration is automatically determined.
movel(P2) # The task motion linear acceleration to P2 is 60(mm/sec2) which is the global acceleration.
movel(P1, vel=20, acc=40) # The task motion linear acceleration to P1 is 40(mm/sec2) which is the specified acceleration.Related commands
Keyword
set / set_ / accx