SpeedjRtStream.msg
Features
Topic message that controls the joint velocity from an external controller.
Parameters
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
| vel | float64[6] | - | target Joint Velocity. [deg/s] |
| acc | float64[6] | - | target joint acceleration [deg/s2]. If None Values entered, it is automatically calculated based on the target joint velocity you entered. |
| time | float64 | - | target time [sec] |
Note
- Asnyc Command.
- The inner profile is interpolated to reach (vel, acc) at time.
- If time <= controller’s control period (=1ms), control is performed at the corresponding speed without interpolation.
- If the next command is not received until arriving at vel, the last input velocity is maintained.
- However, for safety, if the next command is not received for 0.1[s], an error is generated as a time-out and stops.
- If the acceleration limit set globally during motion is exceeded, the motion is not stopped and an Info message is generated.
Caution
- In the current version, it is not linked with Operation Speed [%].