set_accj(acc)
Features
This function sets the global velocity in joint motion (movej, movejx, amovej, or amovejx) after using this command. The globally set acceleration is applied as the default acceleration if movej() is called without the explicit input of the acceleration argument.
Parameters
Parameter Name | Data Type | Default Value | Description |
acc | float | - | acceleration (same to all axes) or acceleration (acceleration to an axis) |
list (float[6]) |
Return
| Value | Description |
|---|---|
0 | Success |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
PY
#1
Q1 = posj(0,0,90,0,90,0)
Q2 = posj(0,0,0,0,90,0)
movej(Q1, vel=10, acc=20)
set_velj(30) # The global joint velocity is set to 30 (deg/sec). [See set_velj().]
set_accj(60) # The global joint acceleration is set to 60 (deg/sec2).
movej(Q2) # The joint motion acceleration to Q2 is 60(deg/sec2) which is the global acceleration.
movej(Q1, vel=20, acc=40) # The joint motion acceleration to Q1 is 40(deg/sec2) which is the specified acceleration.
#2
set_accj(30.55)
set_accj([30, 40, 30, 30, 30, 10])