ServolRtStream.msg
Features
Topic message that controls the task position from an external controller.
Parameters
| Parameter Name | Data Type | Default Type | Description |
|---|---|---|---|
| pos | float64[6] | - | target Task Position [mm, deg] (rotation: euler zyz) |
| vel | float64[6] | - | target Task Velocity. [mm/s, deg/s]. If None values entered, it is automatically calculated based on the target task position you entered. |
| acc | float64[6] | - | target Task Acceleration. [mm/s, deg/s] If None values entered, it is automatically calculated based on the target task position you entered. |
| time | float64 | - | target time [sec] |
Note
- Asnyc Command.
- The inner profile is interpolated to arrive at (pos, vel, acc) at time.
- If time <= controller’s control period (=1ms), control is performed at the corresponding velocity without interpolation.
- If the next command is not received until arriving at pos, it decelerates based on the set global acceleration limit value.
Caution
- The current servol_rt command is premature, so jerky motion may come out. Depending on the system situation, set time to be larger than the communication period and use it. In the current version, it is recommended to use a setting larger than time >= 20 [ms] or use SpeedlRtStream message to control the position based on publishing the SpeedlRtStream topic at an interval of 1 [ms].
- In the current version, it is not linked with Operation Speed [%].
- In the current version, it does not work with the force/compliance control function.
- In the current version, it does not work with DR_VAR_VEL among the singularity options. If set, it is automatically set to the DR_AVOID option.