Difference between revisions of "MC-Basic:robot.JERKROT"
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Revision as of 16:10, 13 December 2010
Defines the rotation jerk of the robot. Together with JTRAN defines the jerk value of a Cartesina motion. This value is used only in two motion commands: MOVES and CIRCLE. In joint interpolated movements (MOVE), this value is ignored. The group must be defined with a robot model (model !=1). The value cannot be greater than JERKMAXROT. The system always takes the smaller of the two with a notification message sent to the user.
Short form
<ROBOT>.jrot
Syntax
<ROBOT>.jrot=<numeric expression>
Type
Double
Range
0.1-maxdouble
Units
deg/sec3
Default
6e5
Scope
R/W, Configuration, Task, Terminal
Limitations
Modal/Nodal
Examples
jrot = 6000