Hi,

I want to set time ,a,v and bend radius from socket in URP.

Can anyone help?

By this time I’m assuming you’ve seen the USscript manual and noticed both the **moveJ** & **moveL** have this capability. See command structure below:

```
movej(q, a=1.4, v=1.05, t=0, r=0)
```

**t** is defined as **the time it takes (in seconds) to make the move**, if **t** is set to zero it ignores this, otherwise if **t** is greater than 0 both the **v and a** parameter given are ignored.

**r** likewise works in the same way, if **r** is set to 0 this parameter is ignored (well… it’s probably used in the calculation but bc it’s 0 there’s no effect) if **r** is greater than 0 then you will get a radius. Warning: **r is defined in METERS so divide by 1000 if necessary to get millimeters**

Hope this helps and best of luck!