SetTimeScaling#

This command sets the time scaling of the trajectory generator. By calling this command with an argument p of less than 100, all robot motions remain exactly the same (i.e., the path remains the same), but everything will be (100 − p) percent slower, including time delays (e.g., the pause set by the command Delay). In other words, this command is more than a simple velocity override.

When using the MecaPortal, you can change the time scaling in real time with the “Time Scaling” slider at the bottom of the program panel.

Syntax#

SetTimeScaling(p)

Arguments#

  • p: time scaling percentage, from 0.001 to 100.

Default values#

The default settings are applied whenever the robot is power cycled (rebooted).

By default, time scaling is set to 100%.

Responses#

  • [2015] [p]

Usage restrictions#

This command can be executed in any robot state.

Cyclic protocols#

In cyclic protocols, the SetTimeScaling command is represented by MotionCommandID 48. See Section 4.2 for more details.