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).

Note that SetJointVelLimit may also influence the velocity actually reached during a move. Refer to the further details below for details.

Syntax#

SetJointVel(p)

Arguments#

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

Default values#

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

By default, p = 25.

Further details#

SetJointVelLimit(pₒ) may also influence the actual joint velocities reached during motion.

For joint-space moves (MoveJoints, MovePose, …), the achieved joint velocities are constrained by both SetJointVel and SetJointVelLimit. In all cases, the motion planner selects joint velocities such that no joint exceeds either limit, and such that all joints arrive at their target positions simultaneously.

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 4.2 for more details.