EnableAlterMotion.srv

Features

This service is only available for M2.40 or later versions.

This function sets the configurations for altering function and allows the input quantity of alter_motion() to be applied to motion trajectory. The unit cycle time of generating alter motion is 100msec. Cycle time(n*100msec) can be changed through input parameter n. This function provide 2 modes(Accumulation mode, Increment mode). Input quantity of alter_motion() can be applied to motion trajectory in two ways as accumulated value or increment value. In accumulation mode, the input quantity means absolute altering amount(dX,dY,dZ,dRX,dRY,dRZ) from current motion trajectory. On the contrary in increment mode, the quantity means increment value from the previous absolute altering amount. The reference coordinate can be changed through input parameter ref. Limitations of accumulation amout and increment amount can be set through input paramet limit_dPOS (accumulated limit) and limit_dPOS_per(increment input limit during 1 cycle). The actual alter amount is limited to these limits.

Parameters

Note

• alter_motion() can be executed only in user thread.
• When ref is None, _g_coord is applied (_g_coord initial value is DR_BASE, and can be set by the set_ref_coord command)
• Accumulation amount or increment amout isn’t be limited if limit_dPOS or limit_dPOS_per is None.

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