Definition
set_motion_end(mode)
Features
This command sets whether to operate the function to check the stop status of the robot after motion is completed. Stop time between consecutive motions decreases if it set to deactivate mode (DR_CHECK_OFF) and can be used for purposes of decreasing the overall work time. It is recommended to set it to DR_CHECK_ON when the tool is heavy and an accurate stop position is required for motion commands driven with high acceleration.
Caution
-
It is not possible to change the mode, during the blending movements between consecutive motions without stopping.
-
In the case of continuous motion that does not require a stop state, using motion blending is more effective in reducing tact time.
-
After the program is finished, it is initialized to the default value again
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
mode |
int |
DR_CHECK_ON |
DR_CHECK_OFF(0) : Deactivate mode DR_CHECK_ON(1) : Activate mode |
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
set_motion_end(DR_CHECK_OFF)
movej(posj(0,0,90,0,90,0) ,vel=30,acc=60,mod = DR_MV_MOD_ABS )
while 1:
movej(posj(0,0,10,0,10,0) ,vel=30,acc=60,,mod = DR_MV_MOD_REL )
movej(posj(0,0,-10,0,-10,0) ,vel=30,acc=60,,mod = DR_MV_MOD_REL )