Skip to content

rti_set_min_duration

Runs at once Any mode Takes control

Make each planned move last at least a multiple of your interval. The robot measures the interval between your position targets and plans each move toward one to last at least multiplier of those intervals. From about 1.5 up each plan outlives the next target, so the arm glides from target to target instead of braking at each; the price is lag, about one interval. At 1 the plan still ends as the next target lands, and the motion still pulses. It takes effect at once.

It acts with "ruckig" and "ruckig_advancing" only, and makes the joints share one move duration. rti_connect() sets it again: call this after it.

Syntax

robot.rti_set_min_duration(multiplier)

Arguments

Name Type Default Description
multiplier float required Command intervals, from 1 to 5 (clamped); 0 switches it off. A negative or non-finite value is refused.

Default values

Set at every rti_connect(): 1.5 in SOFT_RTI, 0 (off) in RTI mode.

Returns

Nothing.

Examples

robot.rti_connect(rate_hz=50, wait=True)
robot.rti_set_min_duration(1.2)
robot.rti_disconnect(wait=True)
Usage restrictions 4 codes

This command runs at once; it is not queued. The robot accepts it in any mode and state, from the client that holds control or when no client does.

It answers with one of these codes when it does not carry the command out:

  • [6101] Control held by another client — another client holds control; the message names it
  • [6003] Invalid arguments — multiplier is negative or not a finite number, or the message did not carry exactly one value
  • [6025] RTI not running or not answering — rTI did not answer within 1 s: it is not running or not responding. The command may still have taken effect
  • [6026] Refused by RTI — rTI could not use the value. The message says why; the setting in force stays

In Python, a code above raises CommandRejected; its number is the code. The call raises:

  • CommandRejected: The robot refused it: multiplier is negative or not finite, or another client holds control. Or RTI refused it or did not answer within 1 s (Errors:).
  • RobotTimeout: The robot did not answer within 5 s.
  • RobotConnectionError: The client is not connected.
  • ValueError: multiplier is not a number. Nothing is sent.
  • TypeError: multiplier is not a number. Nothing is sent.

If the connection drops while the call waits for the robot's answer, it raises CommandRejected with the code CONNECTION_LOST (DISCONNECTED after disconnect()); while it waits for the robot's status, RobotConnectionError.

Like every immediate command, it also answers BAD_ARGS when a raw client sends a value the robot cannot read at all, and INTERNAL when it fails inside the robot.

See also

rti_connect rti_set_servo_generator rti_set_pace rti_set_vel_scale