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Home > Programming > Rotate UR robot last joint at constant rotation speed
bcastets

Some time you may want to rotate the last joint of your UR robot at constant speed of your UR robot.
You can do that using the script function: speedj

Here below is an extract of UR scrit manual:
zoom

Here below is an example of program with make nearly 1.75 turns of last joint:

MoveJ
     Waypoint 1
Script: speedj([0,0,0,0,0,3.14],25,3.5)
Script : stopj(20)