xarm_set_speed

1. Introduction

Set the speed percent of [Live Control] page.

2. Request & Response

Message

{
    "cmd": "xarm_set_speed",
    "data": {
        "percent": 1
    },
    "id":"set_speed_100%"
}

Request

Name	Type	Required fields	Description
percent	int	Yes	set the speed percent of the Arm 0.01-1(1-100%); 1%=2.3mm/s

Response

code=0->success;
code!=0->Failed, refer to xarm_api_code;

3. Code Example

background

percent = float(data.get('percent'))  # percent
if percent > 1:
    percent = 1
max_tcp_speed = GLOBAL.XArm.xarm_params.get('LIMIT_VELO', GLOBAL.Config.LIMIT_VELO)[1]
# max_joint_speed = GLOBAL.XArm.xarm_params.get('LIMIT_ANGLE_VELO', GLOBAL.Config.LIMIT_ANGLE_VELO)[1]
max_joint_speed = GLOBAL.XArm.xarm_max_joint_speed
tcp_speed = max_tcp_speed * percent * GLOBAL.XArm.xarm_speed_factor
joint_speed = max_joint_speed * percent * GLOBAL.XArm.xarm_speed_factor
GLOBAL.XArm.xarm_speed_percent = percent
GLOBAL.XArm.save()
self._xarm_set_params(**{
    'F': tcp_speed,
    'F2': joint_speed
}, is_radian=False)
GLOBAL.XArm.xarm_params = self._xarm_get_params(is_radian=False)
return response(client, cmd_id, 0, 'ok')

front_end

self.setSpeedPercent = (percent, callback) => {
  const params = window.GlobalConstant.INIT_CMD_PARAMS_COMMON_DATA();
  Object.assign(params.data, {
    percent: percent
  });
  self.sendCmd(window.GlobalConstant.SET_SPEED_PERCENT, params, (dict) => {
    if (callback) {
      callback(dict);
    }
  });
}