SetJointAcc#

This command limits the acceleration of the joints during movements resulting from joint-space commands (see Figure 7). Note that this command makes the robot come to stop, even if blending is enabled.

Syntax#

SetJointAcc(p)

Arguments#

  • p: percentage of maximum acceleration of the joints, from 0.001 to 100.

Default values#

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

The default joint acceleration limit is 100%.

Further details#

When using large accelerations and a heavy payload, we recommend using the SetPayload command. This allows the robot to predict the required torque with greater precision, improving path tracking accuracy. It also helps reduce the required margins when using torque limits (see the SetTorqueLimitsCfg).

Note that the acceleration duration is also affected by SetJointVelLimit.

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 SetJointAcc command is represented by MotionCommandID 9. See Section 4.2 for more details.