Features
This service returns the target velocity of the current tool based on the ref coordinate. It cannot be used in the movej, movejx, or movesj command.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
ref |
Int8 |
0 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_WORLD=2 |
The MOVE_REFERENCE_WORLD argument of ref is only available in M2.40 or later versions.
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
vel |
float64[6] |
- |
tool velocity |
|
success |
bool |
- |
True or False |