Features
This service sets the stiffness value based on the global coordinate(refer to set_ref_coord()). The linear transition from the current or default stiffness is performed during the time given as STX. The user-defined ranges of the translational stiffness and rotational stiffness are 0-20000N/m and 0-400Nm/rad, respectively.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
stx |
float64[6] |
[500, 500, 500, 100, 100, 100] |
Three translational stiffnesses Three rotational stiffnesses |
|
ref |
int8 |
1 |
MOVE_REFERENCE_BASE =0 MOVE_REFERENCE_TOOL=1 MOVE_REFERENCE_WORLD=2 MOVE_REFERENCE_USER=101~120 |
|
time |
float |
0 |
Stiffness varying time [sec] Range: 0 - 1.0 * Linear transition during the specified time |
Return
|
Return Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
success |
bool |
- |
True or False |