speedl()

Features

The command is the asynchronous motion command, and the next command is executed at the same time the motion begins. That motion follows the most recent target task velocity that is continuously delivered, within maximum acceleration.

Parameters

Parameter Name	Data Type	Default Value	Description
vel	list (float[6])	-	target joint velocity [deg/s]
acc (a)	float	None	maximum acceleration (same to all axes) or maximum acceleration (acceleration to an axis) [deg/s²]
acc (a)	list (float[6])	None
time (t)	float	None	reach time [sec]

Note

Abbreviated parameter names are supported. (a:acc, t:time)
_global_accx is applied if acc is None. (The initial value of _global_accx is 0.0 and can be set by set_accj.)
After time is set, If reach time can’t be keep because of condition of maximum and acceleration, the reach time is adjusted automatically and notice through information message.
If you want to stop normally during movement, input vel as [0,0,0,0,0,0] or use the stop command.
For safety, if a new speedj command is not transmitted for 0.1 [sec] during movement, an error message is displayed and it stops.

Caution

Currently, it is not linked with the speed control function of the speed slide bar.
Currently, it is not linked with the DR_VAR_VEL option among the singularity options. When set with the DR_VAR_VEL option, it is automatically changed to DR_AVOID option and notice through information message.
Currently, it is not linked with the force/compliance control function.
Currently, it is not linked with check_motion(), change_operation_speed() functions.

Return

Value	Description
0	Success
Negative value	Error

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

movej(posj(0,0,90,0,90,0), v=30, a=60) 
x = get_desired_posx()

v_y = 250
v = 5
at_max = 500
ar_max = 60
go_plus = True
while True:
    xd = get_desired_posx()
    if go_plus:
        speedl([v, v_y, v, 30, 0, 30], [at_max, ar_max])
        if xd[1] > x[1] + 200:
            go_plus = False
    else:
        speedl([-v, -v_y, -v, -30, -0, -30], [at_max, ar_max])
        if xd[1] < x[1] - 200:
            go_plus = True

Features

Parameters

Return

Exception

Example

Related commands