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).

Syntax#

SetJointVel(p)

Arguments#

  • p: percentage of R3 top rated joint velocities, ranging from 0.001 to 100, for Meca500 R3, and to 150, for R4.

Default values#

By default, p = 25.

Further details#

Note that the value of p is overridden by the argument of the command SetJointVelLimit(pₒ) if pₒ < p. Also, it is not possible to limit the velocity of only one joint. With SetJointVel and SetJointVelLimit, the maximum velocities of all joints are reduced proportionally.

In the case of the Meca500 R4, for backward compatibility, p can be greater than 100, up to 150, and the maximum velocity of each joint can be increased

  • up to 225°/s for joints 1 and 2 (i.e., up to 150%);

  • up to 225°/s for joint 3 (i.e., up to 125%);

  • up to 350°/s for joints 4 and 5 (i.e., up to 117%);

  • up to 500°/s for joint 6 (i.e., the joint velocity cannot exceed its top rated velocity).

Thus, for example, if p = 140 (and po > p), the velocity of joints 1 and 2 will be limited to min(150*1.4, 225) = 210°/s, the velocity of joint 3 will be limited to min(180*1.4, 225) = 225°/s, etc.

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.]

  • [1006][The robot is not homed.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the SetJointVel command is represented by MotionCommandID 8. See Section 3.2 for more details.