SetCycloidJnt
(Library)
[Version 1.7 or later]
Enters a specified extended-joint into the cycloid mode where the controller suppresses the peak of overshoot and residual oscillation that would occur in an end motion.
SetCycloidJnt(<JntNumber>)
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In the cycloid mode, the controller will automatically reduce the deceleration ratio currently set for an extended-joint specified by <JntNumber> so as to suppress the peak of overshoot and residual oscillation. The extended-joint will smoothly arrive at the target position.
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In the cycloid mode, the controller will take longer operation time than the normal mode. Use this library only when the robot operation can allow timing margins for all related operations.
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Once specified, the cycloid mode will remain in effect for the specified extended-joint even driven by any other programs. To reset the cycloid mode, use the ResetCycloidJnt library.
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When the specified extended-joint is synchronized with the robot operation, this library will not be called, so the extended-joint will operate according to the robot settings.
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If more than one extended-joint runs synchronously, all of those joints will enter the cycloid mode once any one of them has entered the cycloid mode by SetCycloidJnt. This case cannot select joints to be involved.
File <pacman.h> is required.
Before calling this library, you need to hold an arm group semaphore. The TAKEARM should execute beforehand.
This SetCycloidJnt library is applicable to extended-joints only. For robot joints, use the SetCycloid library.
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Call SetCycloidJnt(8)
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'Make 8th extended-joint enter cycloid mode.
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