set_velx()
set_velx(vel1, vel2)
Features
This function sets the velocity of the task space motion globally. The globally set velocity velx is applied as the default velocity if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit input of the velocity value. In the set value, vel1 and vel2 define the linear velocity and rotating velocity, relatively, of TCP.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vel1 | float | - | velocity 1 |
vel2 | float | - | velocity 2 |
Return
Value | Description |
|---|---|
0 | Success |
Exception
Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
#1
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 velocity to P2 is 30(mm/sec) and 20(deg/sec) which are the global velocity.
movel(P1, vel=20, acc=40) # The task motion velocity to P1 is 20(mm/sec) and 20(deg/sec) which are the specified velocity.
#2
set_velx(10.5, 19.4) # Decimal point input is possible.Related commands
Keyword
set / set_ / velx
set_velx(vel)
Features
This function sets the linear velocity of the task space motion globally. The globally set velocity vel is applied as the default velocity if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit input of the velocity value. The set value vel defines the linear velocity of the TCP while the rotating velocity of the TCP is determined proportionally to the linear velocity.
Parameters
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vel | float | - | velocity |
Return
Value | Description |
|---|---|
0 | Success |
Exception
Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
#1
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) # 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 velocity to P2 is 30(mm/sec) which is the global velocity.
movel(P1, vel=20, acc=40) # The task motion linear velocity to P1 is 20(mm/sec) which is the specified velocity.
#2
set_velx(10.5) # Decimal point input is possible.Related commands
Keyword
set / set_ / velx