set_velj(vel)
Features
This function sets the global velocity in joint motion (movej, movejx, amovej, or amovejx) after using this command. The default velocity is applied to the globally set vel if movej() is called without the explicit input of the velocity argument.
Parameters
Parameter Name | Data Type | Default Value | Description |
vel | float | - | velocity (same to all axes) or velocity (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).
set_accj(60) # The global joint acceleration is set to 60 (deg/sec2). [See set_accj().]
movej(Q2) # The joint motion velocity to Q2 is 30 (deg/sec) which is the global velocity.
movej(Q1, vel=20, acc=40) # The joint motion velocity to Q1 is 20 (deg/sec) which is the specified velocity.
#2
set_velj(20.5) # Decimal point input is possible.
set_velj([10, 10, 20, 20, 30, 10]) # The global velocity can be specified to each axis.