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Vacuum Beta tester Posts: 695 Expert
Rotate UR robot last joint at constant rotation speed |
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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:

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)
You can do that using the script function: speedj
Here below is an extract of UR scrit manual:

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)