Difference between revisions of "MC-Basic:robot.JERKTRANS"
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Revision as of 07:10, 19 March 2014
Defines the translation jerk of the robot. Together with JROT, 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 JERKMAXTRANS. The system always takes the smaller of the two with a notification message sent to the user.
Short form
<ROBOT>.jtran
Syntax
<ROBOT>.jtran=<numeric expression>
Type
double
Range
0.1-maxdouble
Units
mm/sec3
Default
1.5e6
Scope
Read/Write, Configuration, Task, Terminal
Limitations
Modal/Nodal
Examples
jtran = 6000