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).

Note that SetJointVelLimit may also influence the velocity actually reached during a move. Refer to the further details below for details.

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#

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

By default, p = 25.

Further details#

SetJointVelLimit(pₒ) may also influence the actual joint velocities reached during motion.

For joint-space moves (MoveJoints, MovePose, …), the achieved joint velocities are constrained by both SetJointVel and SetJointVelLimit. In all cases, the motion planner selects joint velocities such that no joint exceeds either limit, and such that all joints arrive at their target positions simultaneously.

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.

To take advantage of velocities above 100%, both SetJointVel and SetJointVelLimit must be configured with values greater than 100%.

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 4.2 for more details.