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bcastetsbcastets Vacuum Beta tester Posts: 695 Expert
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:

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


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