Definition
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
Related commands
Keyword
change / operation / speed / change_ / change_operation / change_operation_