If you want the the tool velocity (X,Y,Z) you can use motion.current-vel
If you want just X,Y as rodw says you can use Pythagoras
(see the hypot hal component)
I should have mentioned that this is using the Python Interface and motion.current-vel is not a status item.
The status velocity:
Code:
[b]velocity[/b]
[i](returns float)[/i] - This property is defined, but it does not have a useful interpretation.
The axis velocity only returns the jogging velocity for each axis
Code:
[b]velocity[/b]
[i](returns float)[/i] - current velocity.
The joint velocity works all the time
Code:
[b]velocity[/b]
[i](returns float)[/i] - current velocity.
What I came up with is to use the joint velocity and some math.
Code:
# two joint velocity
for key, value in parent.two_vel.items():
vel_0 = getattr(parent, 'status').joint[value[0]]['velocity']
vel_1 = getattr(parent, 'status').joint[value[1]]['velocity']
vel = sqrt((vel_0 * vel_0) + (vel_1 * vel_1))
getattr(parent, key).setText(f'{vel * 60:.{value[2]}f}')
# three joint velocity
for key, value in parent.three_vel.items():
vel_0 = getattr(parent, 'status').joint[value[0]]['velocity']
vel_1 = getattr(parent, 'status').joint[value[1]]['velocity']
vel_2 = getattr(parent, 'status').joint[value[2]]['velocity']
vel = sqrt((vel_0 * vel_0) + (vel_1 * vel_1) + (vel_2 * vel_2))
getattr(parent, key).setText(f'{vel * 60:.{value[3]}f}')
Seems to work and mirror what Axis reports.
JT
