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 10 to 100. Therefore, a value of 50 means that the velocity is reduced to 50% of the currently set velocity.
Parameter
| 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
PY
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