SetCartAcc#

This command limits the Cartesian acceleration (both linear and angular) of the TRF relative to the WRF during movements resulting from Cartesian-space commands (see Figure 11). Note that using this command causes the robot to come to a complete stop, even if blending is enabled.

Syntax#

SetCartAcc(p)

Arguments#

  • p: percentage of maximum acceleration of the TRF, ranging from 0.001 to 600.

Default values#

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

The default end-effector acceleration limit is 50%.

Further details#

When using large accelerations and a heavy payload, we recommend using the SetPayload command. This allows the robot to predict the required torque with greater precision, improving path tracking accuracy. It also helps reduce the required margins when using torque limits (see the SetTorqueLimitsCfg).

Note that the acceleration duration is also affected by SetJointVelLimit.

Note

The argument of this command is exceptionally limited to 600%. This is because in firmware 8, a change was made to allow the robot to accelerate much faster. For backwards compatibility, however, 100% now corresponds to 100% in firmware 7 and before.

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 SetCartAcc command is represented by MotionCommandID 12. See Section 4.2 for more details.