set_velx(vel1, vel2, clamp)
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. If the value of vel2 is None, it will be calculated proportionally to the linear velocity.
The setting value clamp can be configured in the following manner. When the mode is activated, the speed of all movements is restricted based on the linear velocity of TCP. If clamp is None when you first start the program, the mode will not be activated. If the speed is lower than the TCP speed specified in the safety parameters, it will be limited to that speed. In reduce mode, the limits of the reduce mode will apply.
Retain current mode: None
Deactivate mode: DR_OFF
Activate mode: DR_ON
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vel1 | float | - | velocity 1 (TCP linear velocity) |
vel2 | float | None | velocity 2 (TCP rotating velocity) |
clamp | int | None | speed clamping mode
|
Return
| Value | Description |
|---|---|
0 | Success |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
# 0
set_velx(30) # The global task velocity is set to 30 (mm/sec). The global task angular velocity is automatically determined. Maintain the existing mode.
set_velx(30, 20) # The global task velocity is set to 30(mm/sec) and 20(deg/sec). Maintain the existing mode.
set_velx(30, 20, DR_ON) # The global task velocity is set to 30(mm/sec) and 20(deg/sec). Activate the mode.
# 1
P0 = posj(0,0,90,0,90,0)
movej(Q1, 60, 30)
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, DR_ON) # The global task velocity is set to 30(mm/sec) and 20(deg/sec). Activate the mode.
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.
# 3
set_velx(100, 20, DR_ON) # The global task velocity is set to 30(mm/sec) and 20(deg/sec). Activate the mode.
Q1 = posj(0,0,90,0,90,0)
Q2 = posj(0,0,0,0,90,0)
movej(Q1, vel=60, acc=60) # The global task velocity limited to 100 (mm/sec)
movej(Q2, vel=60, acc=60, velx = 50) # TCP speed is limited to 50 (mm/sec), because local velx takes priority.