About the speed of "ServoJ" function in TCP-IP-CR-python

#1

Hi dobot team,
It appears that the ServoJ function ignores any previous speed and acceleration settings and moves at 100% speed. This makes it almost impossible to carry out any control application in real time.
I am using a CR3 with the controller version 3.5.6.1.
Do you know any solution to this problem?
Thank you.

#2

Hi,
Controller version 3.5.5.0 revamped this motion command so that it is no longer affected by global speed. It is better to perform velocity planning for the running point when calling servoj, and send down the velocity-planned point according to a fixed time interval t to ensure that the robot can track the target point smoothly.

#3

Hi dobot team,
Thank you for the early reply. Can you share an example of how to 'perform velocity planning for the running point when calling servoj, and send down the velocity-planned point according to a fixed time interval t '.