Features
It is an asynchronous type motion command and executes the next command at the same time as the motion starts. It is a motion that follows the most recent target position among consecutive commands within the maximum speed and acceleration.
Parameter
|
Parameter Name |
Data Type |
Default Value |
Description |
|
fTargetVel |
float[6] |
- |
Velocity |
|
fTargetAcc |
float[2] |
- |
Acelerlation |
|
fTargetTime |
float |
0.f |
Time [Sec] |
-
If fTargetTime is entered, if the arrival time cannot be kept due to the maximum speed/acceleration condition, it automatically adjusts and displays a notification message.
For safety, if a new speedj command is not transmitted for 0.1 [sec] during movement, an error message is displayed and it stops.
-
Currently, it is not linked with the operation speed adjustment function of the change_operation_speed function.
-
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.
-
, it is not linked with the force/stiffness control command.
Return
|
Value |
Description |
|
0 |
Failed |
|
1 |
Success |
Example
float jvel={10, 10, 10, 10, 10, 10};
float jacc={20, 20};
drfl.speedl(jvel, jacc, -10000);