SetMoveDurationCfg#

This motion-queue command specifies what happens when a move command cannot meet the desired duration set by the SetMoveDuration command, in time-based move mode.

For joint-space moves, this occurs when one or more joints would need to exceed their maximum velocity (SetJointVelLimit). For linear moves, the robot may need to slow down in certain parts of the path due to joints reaching their velocity limits, such as near singularities.

Syntax#

SetMoveDurationCfg(s)

Arguments#

  • s: severity, with

    • 0 for silent mode (no warning),

    • 1 for generating a warning message in the robot logs (also in MecaPortal), indicating the shortest possible duration for the movement command that failed to meet the desired duration,

    • 4 for generating an error with a code [3051], also indicating the shortest possible duration for the movement command that failed to meet the desired duration.

Default values#

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

By default, s = 4 (generate error).

Further details#

Time scaling (SetTimeScaling) and recovery mode (Section 2.3.2)

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 SetMoveDurationCfg command is represented by MotionCommandID 50. See Section 4.2 for more details.