SetCartAngVel

This command sets the desired and maximum angular velocity of the robot TRF with respect to its WRF. It only affects the movements generated by the MoveLin, MoveLinRelTrf and MoveLinRelWrf commands. It has impact on these movement commands only if the move mode is velocity-based (see SetMoveMode).

Syntax

SetCartAngAcc(ω)

Arguments

• ω: TRF angular velocity limit, in °/s, ranging from 0.001 to 5,000.

Default values

The default settings are applied whenever the robot is activated or reactivated.

The default end-effector angular velocity limit is 45°/s.

Note

The actual angular velocity may be lower (but never higher) than requested at certain portions or throughout the linear path to ensure compliance with the joint velocity limits set by the SetJointVelLimit command and the linear velocity limit set by the SetCartLinVel command.

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 SetCartAngVel command is represented by MotionCommandID 10. See Section 4.2 for more details.