SIASUN GCR Series, Руководство пользователя

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receives the speed_stop function.
Parameters Description:
axis_speed : It represents the joint angular velocity, whose unit is deg/s.
Return Value:
none
speedl (pose : position_speed);
Function Description:
This command controls the robot end to move continuously at a given
velocity. The subsequent commands are directly executed after the speedl
function is executed. After running the speedl function, the robot will
continue to move and ignore subsequent motion commands until the system
receives the speed_stop function.
Parameters Description:
position_speed : A pose data, which is a floating-point array with a
length of 6, is corresponding to the velocity vector of the robot end. First
three values in the position_speed array represent the robot end line velocity
(V
x
, V
y
, V
z
), which unit is mm/s. Last three values in the position_speed
array represent the robot end angular velocity (ω
x
, ω
y
, ω
z
), which unit is
deg/s.
Return Value:
none
speed_stop ( );
Function Description:
Stop the motion of the speedj function or the speedl function.
Parameters Description:
none
Return Value:
none
move_camera_offset ( pose : p1, pose : p2, pose : offset, float : v, float : a );
Function Description:
This command applies to camera shooting and the robot grabbing.
Parameters Description:
p1 : The pose point, which is a floating-point array with a length of 6, is
corresponding to camera shooting teaching point.
p2 : The pose point, which is a floating-point array with a length of 6, is
corresponding to the robot gabbing teaching point.
offset : The pose point, which is a floating-point array with a length of
6, is corresponding to the position compensation returned by the camera.
v : It represents the robot end velocity. Its unit is mm/s.
a : It represents the robot end acceleration, which unit is mm/s
2 . This
value can be changed. It has a default value of 500mm/s
2
.