SetJointVelLimit#

The SetJointVelLimit overrides the default joint velocity limits. Unlike the SetJointVel command, this command affects the movements generated by all Move* commands (even the MoveLinVel* ones).

Syntax#

SetJointVelLimit(po)

Arguments#

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

Default values#

By default, po = 100.

Further details#

As of firmware 10.3, when the argument of SetJointVelLimit is less than 100, the robot will optimize its joint accelerations in the case of slower movements.

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 SetJointVelLimit command is represented by MotionCommandID 33. See Section 3.2 for more details.