MoveJointsVel#

This displaces the robot’s joints simultaneously at the specified joint speeds. All joint movements begin and end at the same time. The robot will decelerate to a complete stop after a period defined by the command SetVelTimeout, unless a subsequent MoveJointsVel command is issued. Unlike position-mode motion commands, the MoveJointsVel command does not generate motion errors when a joint limit is reached; instead, the robot halts slightly before the limit. Additionally, as with all MoveJoints* commands, the robot can cross singularities when using the MoveJointsVel command.

Syntax#

MoveJointsVel(ω1,ω2,ω3,ω4,ω5,ω6)

Arguments#

  • the desired velocity of each joint, in °/s. The value of each of the arguments can be positive, negative or zero.

The maximum joint velocities are given in Technical specifications of the robot’s user manual.

Note

The specified desired joint velocities are modified proportionally by the joint velocity override factor set by SetJointVelLimit(p), when p < 100. In the Meca500 R4, p can be greater than 100, but there will be a distortion, since not all joints can rotate faster than their top rated velocities (e.g., joints 1 and 2 can rotate up to 150% faster, but joint 3 only 125%). Thus, if p = 100, you can still send the command MoveJointsVel(225,225,225,350,350,500), but the robot joints will rotate only at the maximum velocities of the Meca500 R3. In contrast, if p = 150, and you send that same command, all joints will rotate at the requested rates (i.e., the maximum joint velocities for the Meca500 R4).

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 MoveJointsVel command is represented by MotionCommandID 21. See Section 4.2 for more details.