SetJointVelLimit#

The SetJointVelLimit overrides the default joint velocity limits. Unlike the SetJointVel command, this command affects the movements generated by all Move* commands (even the MoveLinVel* ones).

Syntax#

SetJointVelLimit(po)

Arguments#

  • po: 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, po = 100.

Further details#

As of firmware 10.3, when the argument of SetJointVelLimit is less than 100, the robot will optimize its joint accelerations in the case of slower movements.

As already mentioned in the description of the SetJointVel command, in both revisions of Meca500, the top rated velocity of joints 1 and 2 is 150°/s, of joint 3 is 180°/s, of joints 4 and 5 is 300°/s, and of joint 6 is 500°/s. In the case of the R4, the maximum velocity of each joint can be increased up to 225°/s for joints 1, 2, and 3, and up to 350°/s for joints 4 and 5. The velocity of joint 6 cannot be increased over its top rated limit of 500°/s. Thus, for example, if po = 140, 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., during a MoveLin motion.

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 SetJointVelLimit command is represented by MotionCommandID 33. See Section 3.2 for more details.