MC-Basic:robot.JERKTRANS

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

See Also

• CIRCLE
• MOVES