get_desired_velx(ref)
Features
This function returns the target velocity of the current tool based on the ref coordinate. It cannot be used in the movej, movejx, or movesj command.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
ref | Int | DR_BASE | reference coordinate
|
Return
| Value | Description |
|---|---|
float[6] | Tool velocity |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_RUNTIME) | C extension module error occurred |
DR_Error (DR_ERROR_INVALID) | Invalid command |
Example
PY
vel_x1 = get_desired_velx()
#vel_x1 : desired velocity of the tool based on the base coordinate(default value)
vel_x2 = get_desired_velx(DR_BASE)
#vel_x2 : desired velocity of the tool based on the base coordinate
vel_x3 = get_desired_velx(DR_WORLD)
#vel_x3 : desired velocity of the tool based on the world