change_operation_speed

This function adjusts the operation velocity. The argument is the relative velocity in a percentage of the currently set velocity and has a value from 1 to 100. Therefore, a value of 50 means that the velocity is reduced to 50% of the currently set velocity.

Definition
DRFLEx.h within class CDRFLEx, public section (line 767)

bool change_operation_speed(float fSpeed) {
    return _change_operation_speed(_rbtCtrl, fSpeed);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fSpeed	float		Operation speed (1–100%) Represents the relative velocity ratio compared to the currently set value.

Return

Value	Type	Description
0	int	Failed
1	int	Success

Example

drfl.change_operation_speed(40);

string strDrlProgram = "loop = 0\n"
                       "while loop < 3:\n"
                       "    movej(posj(10,10,10,10,10,10), vel=60, acc=60)\n"
                       "    loop = loop + 1\n"
                       "end\n";

if (drfl.get_robot_state() == STATE_STANDBY) {
    drfl.set_robot_mode(ROBOT_MODE_AUTONOMOUS);
    if (drfl.get_robot_mode() == ROBOT_MODE_AUTONOMOUS) {
        ROBOT_SYSTEM eTargetSystem = ROBOT_SYSTEM_VIRTUAL;
        drfl.drl_start(eTargetSystem, strDrlProgram);
    }
}

This example changes the robot’s operation speed to 40% of the current setting and then executes a simple DRL motion loop in autonomous mode. The new speed value applies immediately to all subsequent motion commands executed by the controller.