SetJointVel

This command specifies the desired velocities of the robot joints during movements generated by the MovePose, MoveJoints, and MoveJointsRel commands. It has impact on these movement commands only if if the move mode is velocity-based (see SetMoveMode).

Syntax

SetJointVel(p)

Arguments

• p: percentage of the top rated joint velocities, ranging from 0.001 to 100.

Default values

By default, p = 25.

Further details

Note that the value of p is overridden by the argument of the command SetJointVelLimit(pₒ) if pₒ < p. Also, it is not possible to limit the velocity of only one joint. With SetJointVel and SetJointVelLimit, the maximum velocities of all joints are reduced proportionally.

Usage restrictions

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

• [1005][The robot is not activated.]

• [1011][The robot is already in error.]

Cyclic protocols

In cyclic protocols, the SetJointVel command is represented by MotionCommandID 8. See Section 3.2 for more details.