SetVelTimeout#

This command defines the timeout period following a velocity-mode motion command (MoveJointsVel, MoveLinVelTrf, or MoveLinVelWrf). If no subsequent velocity-mode motion command is received within this period, all joint speeds will automatically be set to zero. The SetVelTimeout command serves as a safety precaution and should be used accordingly. Note that the velocity-mode timeout is influenced by the SetTimeScaling command.

Syntax#

SetVelTimeout(t)

Arguments#

t: desired timeout period, in seconds, ranging from 0.001 to 1.

Default values#

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

By default, the velocity-mode timeout is 0.050 s.

Further details#

The deceleration period begins after the velocity timeout. The deceleration time will depend on the current acceleration configured with SetJointAcc or SetCartAcc commands.

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 SetVelTimeout command is represented by MotionCommandID 24. See Section 4.2 for more details.