Hi Nox,
You should specify the joint speed variable for joint movements, you can do so by passing -1 as a first value, then, the joint speed or by specifying it in the following way:
speeds=[5, 100, 200, 5, 7]
target = robot.Pose()
for speed_j in joint_speeds:
# Calculate the next position
target = target*transl(-50,0,0)
# Change the robot speed:
robot.setSpeed(speed_joints = speed_j)
# Alternatively, you can do:
#robot.setSpeed(-1, speed_j)
# Move the robot
robot.MoveJ(target)
# Pause 500 ms
robot.Pause(500)
In any case, the post processor will define the behavior of what happens when you change the speed. What robot are you using? Not all robots support setting the speed in the joint space. Some robot controllers support setting the speed as a percentage so you may see your speed converted to a percentage value.
You can customize this behavior by modifying the setSpeedJoints command.
Albert
You should specify the joint speed variable for joint movements, you can do so by passing -1 as a first value, then, the joint speed or by specifying it in the following way:
speeds=[5, 100, 200, 5, 7]
target = robot.Pose()
for speed_j in joint_speeds:
# Calculate the next position
target = target*transl(-50,0,0)
# Change the robot speed:
robot.setSpeed(speed_joints = speed_j)
# Alternatively, you can do:
#robot.setSpeed(-1, speed_j)
# Move the robot
robot.MoveJ(target)
# Pause 500 ms
robot.Pause(500)
In any case, the post processor will define the behavior of what happens when you change the speed. What robot are you using? Not all robots support setting the speed in the joint space. Some robot controllers support setting the speed as a percentage so you may see your speed converted to a percentage value.
You can customize this behavior by modifying the setSpeedJoints command.
Albert