SetMoveJumpApproachVel

This command is intended for reducing the speed during the initial and final moments of the MoveJump motion (see Figure 11).

Syntax

SetMoveJumpApproachVel(vstart,pstart,vend,pend)

Arguments

• v_start: maximum allowed vertical speed near the start pose, in mm/s, from 0.001 to 700, or 0 for unlimited;

• p_start: initial portion of the retreat motion during which v_start is applied, in mm, from 0 to 102;

• v_end: maximum allowed vertical speed near the end pose, in mm/s, from 0.001 to 700, or 0 for unlimited;

• p_end: final portion of the approach motion during which v_start is applied, in mm, from 0 to 102.

Default values

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

By default, v_start = v_end = 10 and p_start = p_end = 1.

Further details

Note that if p_start ≥ |h_start|, then the complete retract vertical motion will be limited in speed to v_start. Similarly, if p_end ≥ |h_end|, then the complete approach vertical motion will be limited in speed to v_end. Also, if v_start or v_end is larger than the speed resulting from the SetJointVel command, it will be ignored.

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 SetMoveJumpApproachVel command is represented by MotionCommandID 47. See Section 4.2 for more details.