enable_alter_motion(n,mode,ref,limit_dPOS,limit_dPOS_per)
Features
enable_alter_motion() and alter_motion() functions enable to alter motion trajectory.
This function sets the configurations for altering function and allows the input quantity of alter_motion() to be applied to motion trajectory. The unit cycle time of generating alter motion is 100msec. Cycle time(n*100msec) can be changed through input parameter n. This function provide 2 modes(Accumulation mode, Increment mode). Input quantity of alter_motion() can be applied to motion trajectory in two ways as accumulated value or increment value. In accumulation mode, the input quantity means absolute altering amount(dX,dY,dZ,dRX,dRY,dRZ) from current motion trajectory. On the contrary in increment mode, the quantity means increment value from the previous absolute altering amount. The reference coordinate can be changed through input parameter ref. Limitations of accumulation amout and increment amount can be set through input paramet limit_dPOS (accumulated limit) and limit_dPOS_per(increment input limit during 1 cycle). The actual alter amount is limited to these limits.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
n | int | None | Cycle time number |
mode | Int | None | Mode
|
ref | int | None | reference coordinate
|
limit_dPOS | list(float[2]) | None | First value : limitation of position[mm] Second value : limitation of orientation[deg] |
limit_dPOS_per | list(float[2]) | None | Fist value : limitation of position[mm] Second value : limitation of orientation[deg] |
Note
- _global_ref is applied if ref is None
- Accumulation amount or increment amout isn’t be limited if limit_dPOS or limit_dPOS_per is None.
- alter_motion() can be executed only in user thread.
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
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