How to solve C60 error?
C60: Linear speed exeed limit in ServoJ mode.
Firmware: V2.3.0+
UFactory Studio: V2.3.0+
For safety reasons, we give a TCP speed limit under ServoJ mode even for joint motion, the limit is 1200mm/s for xArm series and UF850, and 500mm/s for Lite6.
When the arm works at extended reach, the TCP speed can easily exceed the threshold. Therefore, we increase this threshold and provide a parameter to set the limit by themselves, please modify it carefully after safety evaluation.
- set_linear_spd_limit_factor
- get_linear_spd_limit_factor
- factor*1000 = TCP speed limit, the default value is 1.2.
- 1.2*1000=1200mm/s for xArm/UF850, 1.2*500=600mm/s for Lite6
- call save_conf() to save this config after calling set_linear_spd_limit_factor.
python
def set_linear_spd_limit_factor(self, factor):
Set linear speed limit factor (default is 1.2)
Note:
1. only available if firmware_version >= 2.3.0
2. only available in mode 1
:param factor: speed limit factor
:return: code
code: See the API Code Documentation for details.
def get_linear_spd_limit_factor(self):
Get linear speed limit factor
Note:
Only available if firmware_version >= 2.3.0
:return: tuple((code, factor)), only when code is 0, the returned result is correct.
code: See the API Code Documentation for details.
factor: linear speed limit factor