set_accx(acc1, acc2)
Features
This function sets the acceleration of the task space motion globally. The globally set acceleration accx 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. In the set value, acc1 and acc2 define the linear acceleration and rotating acceleration, relatively, of the TCP. If the value of acc2 is None, it will be calculated proportionally to the linear acceleration.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
acc1 | float | - | acceleration 1 (TCP linear acceleration) |
acc2 | float | None | acceleration 2 (TCP rotating acceleration) |
Return
| Value | Description |
|---|---|
0 | Success |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
PY
# 0
set_accx(60) # The global task acceleration is set to 60(mm/sec2). The global task angular acceleration is automatically determined.
set_accx(60,40) # The global task acceleration is set to 60(mm/sec2) and 40(deg/sec2).
# 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 acceleration to P2 is 60(mm/sec2) and 40(deg/sec2) which is the global acceleration.
movel(P1, vel=20, acc=40) # The task motion acceleration to P1 is 40(mm/sec) and 40(deg/sec2) which is the specified acceleration.Related commands
- set_velx(vel1, vel2, clamp)
- movel()
- movec()
- movesx()
- moveb()
- move_spiral()
- movel()
- amovec()
- amovesx()
- amoveb()
- amove_spiral()