change_operation_speed (Auto Mode)

This section explains how to use change_operation_speed during Auto (Run) operations to dynamically adjust the robot’s overall operating velocity.

The function scales the robot’s speed by a percentage (1–100%) of the currently configured motion speed, allowing external systems to slow down or speed up the robot without modifying the DRL program itself.

Typical usage

• Reduce operation speed during precision alignment or vision calibration.

• Slow down motions when an operator enters the collaborative workspace.

• Adjust speed on-the-fly based on real-time sensor feedback or product conditions.

• Implement variable-speed manufacturing cycles (e.g., quality check mode vs. fast mode).

Note

• Common operating range: 10–100%

• Speeds below 10% may be clamped depending on safety mode.

• The change applies immediately and affects all subsequent motions.

Example: Slowing Robot Movement Before Starting a DRL Routine

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    // 1) Slow down to 20% of the current speed
    if (!drfl.change_operation_speed(20)) {
        printf("Failed to change operation speed.\n");
        return -1;
    }

    printf("Operation speed set to 20%%.\n");

    // 2) Prepare a simple DRL program
    std::string drlProgram =
        "i = 0\\r\\n"
        "while i < 2:\\r\\n"
        "    movej(posj(15,15,15,15,15,15), vel=60, acc=60)\\r\\n"
        "    movej(posj(0,0,0,0,0,0), vel=60, acc=60)\\r\\n"
        "    i = i + 1\\r\\n"
        "end\\r\\n";

    // 3) Ensure robot is in Auto Mode
    if (drfl.get_robot_mode() == ROBOT_MODE_AUTONOMOUS &&
        drfl.get_robot_state() == eSTATE_STANDBY) {

        // Start the DRL task at the reduced speed
        drfl.drl_start(ROBOT_SYSTEM_REAL, drlProgram);
    } else {
        printf("Robot is not in Auto/Standby state.\n");
    }

    return 0;
}

In this example, the robot’s operating speed is reduced to 20% before starting a DRL routine. The adjusted speed affects all subsequent motion commands issued in Auto Mode.

Tips

• Use reduced speed during delicate pick-and-place, inspection, or calibration tasks.

• Combine with drl_start for dynamic speed-controlled automation.

• Increasing speed (e.g., 80–100%) is useful for throughput-focused cycles.

• Log speed changes to support traceability in production environments.