MC-Basic:robot.JERKROT

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

See Also

• CIRCLE
• MOVES
• robot.JERKTRANS