SetJointAcc#

This command limits the acceleration of the joints during movements resulting from joint-space commands (see Figure 11). Note that this command makes the robot come to stop, even if blending is enabled.

Syntax#

SetJointAcc(p)

Arguments#

  • p: percentage of maximum acceleration of the joints, from 0.001 to 150.

Default values#

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

The default joint acceleration limit is 100%.

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.

The argument of this command is exceptionally limited to 150. This is because in firmware 8, a scaling was applied so that if this argument is kept at 100, most joint-space movements are feasible even at full payload. More precisely, if you are upgrading the firmware of your Meca500 from firmware 7 and you want to keep the same joint accelerations, you need to multiply the arguments of your SetJointAcc commands by the factor 1.43.

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 SetJointAcc command is represented by MotionCommandID 9. See Section 4.2 for more details.