set_jog_accel¶

Runs at once Any mode Takes control

Set the jog's ramp time, from rest to a joint's full speed. A jogging joint speeds up and brakes at its speed limit divided by this time, but never faster than its acceleration limit: a time shorter than that limit allows changes nothing more. With the "scurve" jog profile each ramp also rounds its start and end, which adds up to 1 / jerk factor seconds (set_jog_jerk_factor()). The braking at a limit and after jog_stop() is planned with the same acceleration.

The setting is the robot's: it applies to every client's jogs and the dashboard's, and mode changes keep it. A jog in progress keeps its ramp until the joint comes to rest. It lasts until it is changed or the robot software restarts.

Syntax¶

robot.set_jog_accel(accel_time)

Arguments¶

Name	Type	Default	Description
`accel_time`	`float`	required	Seconds from rest to the joint's full speed. It must be more than 0; a time under 0.05 s counts as 0.05 s.

Default values¶

From config/system.xml <jog_defaults>, read at start: 0.55 s.

Returns¶

Any

None: the robot sends no value back.

Examples¶

robot.set_jog_accel(1.0)

Usage restrictions 3 codes

This command runs at once; it is not queued. The robot accepts it in any mode and state, from the client that holds control or when no client does.

It answers with one of these codes when it does not carry the command out:

[6101] Control held by another client — another client holds control; the message names it
[6003] Invalid arguments — accel_time is not a finite number above 0
[6025] RTI not running or not answering — rTI did not answer within 1 s: it is not running or not responding. The command may still have taken effect

In Python, a code above raises CommandRejected; its number is the code. The call raises:

CommandRejected: The robot refused it: accel_time is not more than 0 or not finite, or another client holds control. Or RTI refused it or did not answer within 1 s (Errors:).
RobotTimeout: The robot did not answer within 5 s.
RobotConnectionError: The client is not connected.
ValueError: accel_time cannot be read as a number. Nothing is sent.
TypeError: accel_time is None or another type that is no number. Nothing is sent.

If the connection drops while the call waits for the robot's answer, it raises CommandRejected with the code CONNECTION_LOST (DISCONNECTED after disconnect()); while it waits for the robot's status, RobotConnectionError.

Like every immediate command, it also answers BAD_ARGS when a raw client sends a value the robot cannot read at all, and INTERNAL when it fails inside the robot.

Protocol¶

A client that does not use robotclient sends this over the TCP command protocol (port 29000) for the example above:

{"id": "c1", "cmd": "set_jog_accel", "args": [1.0]}