SpeedlRtStream.msg
Features
Topic message that controls the task velocity from an external controller.
Parameter
| Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
| vel | float64[6] | - | target task velocity. [mm/s, deg/s] |
| acc | float64[6] | - | target task acceleration. [mm/s, deg/s] If None Values entered, it is automatically calculated based on the target task 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 [%].
- 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.