Motion settings commands¶
The settings every queued move uses unless the move passes its own: the speed, the motion profile, blending, the inverse kinematics engine, and when a move counts as complete.
All of them:
- Set a default for this robot, not for one move. A move's own setting, passed as a keyword argument, wins for that move. Every setting is on the Per-move settings page.
- Last until changed or until the robot software restarts, for every client.
| Command | What it does | Runs |
|---|---|---|
set_joint_speed |
Set the default speed of queued moves, as a share of the limits. | At once |
set_profile |
Set the default profile: how queued moves speed up and slow down. | At once |
set_blending |
Set the default blend: how queued moves join at their corners. | At once |
set_ik_solver |
Set the default IK solver, which turns poses into joint angles. | At once |
set_completion_policy |
Set when the robot counts a queued move as finished. | At once |
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