set_velx(vel1, vel2)
Features
This function sets the velocity of the task space motion globally. The globally set velocity velx is applied as the default velocity if the task motion such as movel(), amovel(), movec(), movesx() is called without the explicit input of the velocity value. In the set value, vel1 and vel2 define the linear velocity and rotating velocity, relatively, of TCP.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vel1 | float | - | velocity 1 |
vel2 | float | - | velocity 2 |
Return
| Value | Description |
|---|---|
0 | Success |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
PY
#1
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)
movel(P1, vel=10, acc=20)
set_velx(30,20) # The global task velocity is set to 30(mm/sec) and 20(deg/sec).
set_accx(60,40) # The global task acceleration is set to 60(mm/sec2) and 40(deg/sec2).
movel(P2) # The task motion velocity to P2 is 30(mm/sec) and 20(deg/sec) which are the global velocity.
movel(P1, vel=20, acc=40) # The task motion velocity to P1 is 20(mm/sec) and 20(deg/sec) which are the specified velocity.
#2
set_velx(10.5, 19.4) # Decimal point input is possible.