sendSpeedJCommands

Send speedj commands

Since R2024a

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Syntax

sendSpeedJCommands(ur, jointVelocities)
sendSpeedJCommands(ur, jointVelocities, Name=Value)

Description

sendSpeedJCommands(ur, jointVelocities) sends speedj commands to control the joints of Universal Robots cobot through the RTDE interface based on the specified velocity for each joint.

example

sendSpeedJCommands(ur, jointVelocities, Name=Value) specifies options using a name-value argument in addition to the input arguments in previous syntaxes. You can use the name-value arguments to set the duration and acceleration.

example

Examples

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Connect to a physical or simulated cobot by using urRTDEClient object.

ur = urRTDEClient('172.19.98.176');
ur = 
  urRTDEClient with properties:

            CobotName: 'universalUR5e'
       URControllerIP: '172.19.98.176'
    ControllerVersion: '5.11.1.0'
        RTDEFrequency: 125
    ConnectionTimeOut: 10
        RigidBodyTree: [1×1 rigidBodyTree]

Command the cobot by providing the desired velocities for each joint and by specifying an acceleration of 1.2 rad/s2.

jointVelocities = [0.1, -0.1, 0.2, 0, -0.2, 0.1]; 
sendSpeedJCommands(ur, jointVelocities, Acceleration=1.2);

Input Arguments

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Connection to physical or simulated cobot from Universal Robots, specified as a urRTDEClient object.

Desired velocity of each joint of the physical or simulated cobot, specified as a 1-by-6 numeric vector.

Data Types: array

Name-Value Arguments

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Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: sendSpeedJCommands(ur, jointVelocities, Acceleration=1.2)

Maximum duration (in seconds) by which the physical or simulated cobot must try to complete the motion to reach the desired velocity, specified as a numeric scalar.

Example: sendSpeedJCommands(ur, jointVelocities, EndTime=3)

Data Types: double

Acceleration (in rad/s2) to control trapezoidal speed profile of the trajectory, specified as a numeric scalar.

Example: sendSpeedJCommands(ur, jointVelocities, Acceleration=1.2)

Note

If 'EndTime' is a non-zero value, 'Acceleration' is ignored because time takes precedence. To use 'Acceleration', set 'EndTime' to 0.

Data Types: double

Version History

Introduced in R2024a

See Also