Definition
get_desired_velx(ref)
Features
This function returns the target velocity of the current tool based on the ref coordinate. It cannot be used in the movej, movejx, or movesj command.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
ref |
Int |
DR_BASE |
reference coordinate
|
Return
|
Value |
Description |
|---|---|
|
float[6] |
Tool velocity |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_RUNTIME) |
C extension module error occurred |
|
DR_Error (DR_ERROR_INVALID) |
Invalid command |
Example
Python
vel_x1 = get_desired_velx()
# vel_x1 : desired velocity of the tool based on the base coordinate(default value)
vel_x2 = get_desired_velx(DR_BASE)
# vel_x2 : desired velocity of the tool based on the base coordinate
vel_x3 = get_desired_velx(DR_WORLD)
# vel_x3 : desired velocity of the tool based on the world