set_velx(vel)
Features
This function sets the linear velocity of the task space motion globally. The globally set velocity vel 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. The set value vel defines the linear velocity of the TCP while the rotating velocity of the TCP is determined proportionally to the linear velocity.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
vel | float | - | velocity |
Return
| Value | Description |
|---|---|
0 | Success |
Exception
| Exception | Description |
|---|---|
DR_Error (DR_ERROR_TYPE) | Parameter data type error occurred |
Example
PY
#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) # The global task velocity is set to 30 (mm/sec). The global task angular velocity is automatically determined.
set_accx(60) # The global task acceleration is set to 60 (mm/sec2). The global task angular acceleration is automatically determined.
movel(P2) # The task motion linear velocity to P2 is 30(mm/sec) which is the global velocity.
movel(P1, vel=20, acc=40) # The task motion linear velocity to P1 is 20(mm/sec) which is the specified velocity.
#2
set_velx(10.5) # Decimal point input is possible.