set_accx(acc)
Features
This function sets the linear acceleration of the task space motion globally. The globally set acceleration acc is applied as the default acceleration if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit input of the acceleration value. The set value acc defines the linear acceleration of the TCP while the rotating acceleration of the TCP is determined proportionally to the linear acceleration.
Parameters
| Parameter Value | Data Type | Default Value | Description |
|---|---|---|---|
acc | float | - | acceleration |
Return
| Value | Description |
|---|---|
0 | Success |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
PY
P0 = posj(0,0,90,0,90,0)
movej(P0)
P1 = posx(400,500,800,0,180,0)
P2 = posx(400,500,500,0,180,0)
movej(P0, vel=10, acc=20)
movel(P1, vel=10, acc=20)
set_velx(30) # The global task velocity is set to 30 (mm/sec). The global task angular velocity is automatically determined.
set_accx(60) # The global task acceleration is set to 60 (mm/sec2). The global task angular acceleration is automatically determined.
movel(P2) # The task motion linear acceleration to P2 is 60(mm/sec2) which is the global acceleration.
movel(P1, vel=20, acc=40) # The task motion linear acceleration to P1 is 40(mm/sec2) which is the specified acceleration.Related commands
- set_velx(vel1, vel2)
- set_velx(vel)
- movel()
- movec()
- movesx()
- moveb()
- move_spiral()
- movel()
- movec()
- movesx()
- amoveb()
- amove_spiral()