Universal Robots Forum

How can I update speedl() parameters

Hi there.
At the moment, I have an application that sends the speed (in the form of a six-dimensional vector) via RTDE several times per second and a robot receives the signal and uses the data as a parameter for speedl. I need to get smooth movement of the robot without stopping.
However, the speedl command is executed completely with the initial parameters,
ignoring new ones. How can I start the new speedl before the old one completes or update the parameters in the old speedl without having to stop the robot?