ServolStream.msg
Features
The topic message is the asynchronous motion message, and the next command is executed at the same time the motion begins.
Motion that follows the most recent target task position among the continuously delivered commands within maximum speed, acceleration.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
| pos | float64[6] | - | target task location for six axes |
| vel | float64[2] | - | velocity |
| acc | float64[2] | - | acceleration |
| time | float64 | - | time [sec] |
Note
- If time is entered, if the arrival time cannot be kept due to the maximum speed/acceleration condition, it automatically adjusts and displays a notification message.
Caution
- Currently, it is not linked with the operation speed adjustment service of the ChangeOperationSpeed service.
- Currently, it is not linked with the DR_VAR_VEL option among the singularity processing options. When it is set as the DR_VAR_VEL option, it is automatically changed to the DR_AVOID option and a notification message is displayed.
- Currently, it is not linked with the force/stiffness control command.