disable_alter_motion()
Features
This function deactivates alter motion.
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
def alter_thread():
alter_motion(dX) #dX : amount of alter motion
dX = [10,0,0,10,0,0]
J00 = posj(0,0,90,0,90)
X1 = posx(559.0, 200, 651.5, 180, -180.0, 180)
X2 = posx(559.0, 200, 400, 180, -180.0, 180)
movej(J00,vel=50,acc=100)
enable_alter_motion(n=10,mode=DR_DPOS, ref=DR_BASE, limit_dPOS=[50,90], limit_dPOS_per=[50,50])
# cycle time:(5*100)msec, mode:accumulate, reference coordination:base coordination
# Lmitation of accumulation amount :50mm,50deg
# Limitation of increment amount :10mm, 10deg
th_id = thread_run(alter_thread, loop=True)
movel(X1,v=50,a=100,r=30)
movel(X2,v=50,a=100)
thread_stop(th_id)
disable_alter_motion() # deactivates alter motion